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Hotfix: Change driver keybinds #47

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Merged
0x5b62656e5d merged 2 commits into from
Mar 18, 2025
Merged

Hotfix: Change driver keybinds #47

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8905855
Change driver keybinds
0x5b62656e5d Mar 18, 2025
135f2b4
Remove unused methods
0x5b62656e5d Mar 18, 2025
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12 changes: 6 additions & 6 deletions src/main/java/raidzero/robot/RobotContainer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -102,7 +102,7 @@ private void configureBindings() {
climbWinch.setDefaultCommand(climbWinch.stop());

// * Driver controls
joystick.rightBumper().whileTrue(
joystick.rightTrigger().whileTrue(
swerve.applyRequest(
() -> fieldCentricDrive
.withVelocityX(-joystick.getLeftY() * MaxSpeed * (arm.isUp() ? 0.3 : 1.0))
Expand All @@ -111,8 +111,8 @@ private void configureBindings() {
)
);

joystick.rightBumper().onTrue(new InstantCommand(() -> armStrip.setStrobeInterval(0.15)));
joystick.rightBumper().negate().onTrue(new InstantCommand(() -> armStrip.setStrobeInterval(0.5)));
joystick.rightTrigger().onTrue(new InstantCommand(() -> armStrip.setStrobeInterval(0.15)));
joystick.rightTrigger().negate().onTrue(new InstantCommand(() -> armStrip.setStrobeInterval(0.5)));

joystick.a().whileTrue(
swerve.applyRequest(
Expand All @@ -121,8 +121,8 @@ private void configureBindings() {
)
);

joystick.leftTrigger().whileTrue(coralIntake.extake());
joystick.rightTrigger().onTrue(coralIntake.intake());
joystick.leftBumper().whileTrue(coralIntake.extake());
joystick.rightBumper().onTrue(coralIntake.intake());

joystick.b().whileTrue(
swerve.pathToStation()
Expand Down Expand Up @@ -178,7 +178,7 @@ private void configureBindings() {

operator.button(Constants.Bindings.CORAL_EXTAKE).whileTrue(coralIntake.extake());
operator.button(Constants.Bindings.CORAL_INTAKE).onTrue(coralIntake.intake());
operator.button(Constants.Bindings.CORAL_SCOOCH).onTrue(coralIntake.scoochCoral());
operator.button(Constants.Bindings.CORAL_SCOOCH).whileTrue(coralIntake.run(-Constants.TelescopingArm.Intake.EXTAKE_SPEED));

operator.button(Constants.Bindings.BOTTOM_RIGHT).onTrue(coralIntake.unstuckServo());

Expand Down
10 changes: 0 additions & 10 deletions src/main/java/raidzero/robot/subsystems/telescopingarm/CoralIntake.java
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Original file line number Diff line number Diff line change
Expand Up @@ -76,16 +76,6 @@ public Command intake() {
.until(() -> getBottomLaserDistance() <= Constants.TelescopingArm.Intake.LASERCAN_DISTANCE_THRESHOLD_MM);
}

/**
* Creates a {@link Command} to scooch the coral upwards if too low
*
* @return A {@link Command} to scooch the coral upwards
*/
public Command scoochCoral() {
return run(() -> roller.set(-Constants.TelescopingArm.Intake.INTAKE_LOWER_SPEED))
.until(() -> getTopLaserDistance() <= Constants.TelescopingArm.Intake.LASERCAN_DISTANCE_THRESHOLD_MM);
}

/**
* Creates a {@link Command} to move the coral upwards to unstuck the servo block
*
Expand Down