From a756529db5fee0832a449b0faf6186eb08648440 Mon Sep 17 00:00:00 2001 From: PGgit08 Date: Mon, 1 Apr 2024 11:05:59 -0400 Subject: [PATCH] lerp saver works, can be used when needed --- src/main/java/frc/robot/RobotContainer.java | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 7c5c646..3941cc7 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -21,6 +21,7 @@ import frc.robot.commands.auto.AutoAmp; import frc.robot.commands.auto.AutonShoot; import frc.robot.commands.auto.NoteAlign; +import frc.robot.commands.auto.SaveLerpPoints; import frc.robot.commands.elevator.OperateElevator; import frc.robot.commands.elevator.SetElevator; import frc.robot.commands.intake.FeedActuate; @@ -71,6 +72,8 @@ public class RobotContainer { // sendable chooser for auton commands private final SendableChooser _autonChooser; + // for recording lerp points and generating code + private final SaveLerpPoints _lerpSaver = new SaveLerpPoints(_shooterSubsystem, _elevatorSubsystem); /** * The container for the robot. Contains subsystems, OI devices, and commands. @@ -147,6 +150,9 @@ private void configureBindings() { ) ); + // _operatorController.options().onTrue(_lerpSaver); + // _operatorController.touchpad().onTrue(Commands.runOnce(_lerpSaver::showCode)); + _operatorController.square().whileTrue(new FeedActuate(_intakeSubsystem, ActuatorState.OUT, FeedMode.INTAKE)).whileTrue( Commands.run(() -> { if (_intakeSubsystem.hasNote()) _ledSubsystem.blink(LEDColors.GREEN, LEDColors.NOTHING, 0.1);