From 651077eb26438306494eb7667b820b0954dbc232 Mon Sep 17 00:00:00 2001 From: = Date: Sat, 10 Aug 2024 16:08:45 +0800 Subject: [PATCH] new constants --- src/main/java/frc/robot/Constants.java | 1 + src/main/java/frc/robot/Robot.java | 17 ++++++++++------- 2 files changed, 11 insertions(+), 7 deletions(-) diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 04da3d6..a584588 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -9,6 +9,7 @@ public final class Constants { public static final int driverport = 0; public static final int codriverport = 1; + public static final int testport = 2; public static final int shooterPort = 31; public static final int indexerPort = 21; diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 9ebda06..f7f625f 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -29,6 +29,7 @@ public class Robot extends CommandRobot { private final CommandXboxController m_driver = new CommandXboxController(Constants.driverport); private final CommandXboxController m_codriver = new CommandXboxController(Constants.codriverport); + private final CommandXboxController m_test = new CommandXboxController(Constants.testport); private final Arm m_arm = new Arm(); private final Shooter m_shooter = new Shooter(); @@ -63,19 +64,19 @@ public Robot() { DriverStation.startDataLog(DataLogManager.getLog()); SignalLogger.setPath(DataLogManager.getLogDir()); SignalLogger.start(); - m_sysid.add(m_shooter::sysIdDynamic); - m_sysid.add(m_shooter::sysIdQuasistatic); + // m_sysid.add(m_shooter::sysIdDynamic); + // m_sysid.add(m_shooter::sysIdQuasistatic); - m_sysid.add(m_arm::sysIdDynamic); - m_sysid.add(m_arm::sysIdQuasistatic); + // m_sysid.add(m_arm::sysIdDynamic); + // m_sysid.add(m_arm::sysIdQuasistatic); - m_sysid.add(m_climber::sysIdDynamic); - m_sysid.add(m_climber::sysIdQuasistatic); + // m_sysid.add(m_climber::sysIdDynamic); + // m_sysid.add(m_climber::sysIdQuasistatic); m_sysid.add(m_intake::sysIdDynamic); m_sysid.add(m_intake::sysIdQuasistatic); - m_sysid.addAll(m_drivetrain.getSysIdCommands()); + // m_sysid.addAll(m_drivetrain.getSysIdCommands()); m_drivetrain.registerTelemetry(m_logger::telemeterize); @@ -131,5 +132,7 @@ public Robot() { }); m_codriver.y().onTrue(m_superstructure.stop()); m_codriver.b().whileTrue(m_superstructure.outake()); + + m_driver.b().onTrue(m_sysid.getAllCommands()); } }