Merge pull request #29 from OakvilleDynamics/Intake/Remap-Buttons

Remapped Buttons Finalization
OakvilleDynamics · Mar 12, 2024 · 4e4dccf · 4e4dccf
2 parents d0bee59 + 9be43bc
commit 4e4dccf
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Showing 5 changed files with 18 additions and 22 deletions.
diff --git a/src/main/java/frc/robot/commands/ConveyorCommand.java b/src/main/java/frc/robot/commands/ConveyorCommand.java
@@ -12,7 +12,6 @@
 public class ConveyorCommand extends Command {
   private final Conveyor m_ConveyorSubsystem;
   // controller
-  // TODO: Change this to the correct controller
   private final Joystick ConveyorJoystick = new Joystick(OperatorConstants.COPILOT_CONTROLLER);
 
   public ConveyorCommand(Conveyor subsystem) {
@@ -25,10 +24,9 @@ public void initialize() {}
 
   @Override
   public void execute() {
-    if (ConveyorJoystick.getRawButton(5) == true | ConveyorJoystick.getRawButton(3) == true) {
+    if (ConveyorJoystick.getRawButton(5 | 3 | 10)) {
       m_ConveyorSubsystem.intakeConveyor();
-    } else if (ConveyorJoystick.getRawButton(6) == true
-        | ConveyorJoystick.getRawButton(4) == true) {
+    } else if (ConveyorJoystick.getRawButton(6 | 4 | 9)) {
       m_ConveyorSubsystem.reverseConveyor();
       System.out.println("Conveyor Moving in Reverse");
     } else {

diff --git a/src/main/java/frc/robot/commands/ElevatorControl.java b/src/main/java/frc/robot/commands/ElevatorControl.java
@@ -29,9 +29,9 @@ public void initialize() {}
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if (ElevatorJoystick.getThrottle() <= -0.85) {
+    if (ElevatorJoystick.getThrottle() <= -0.75) {
       ElevatorSubsystem.up();
-    } else if (ElevatorJoystick.getThrottle() >= 0.85) {
+    } else if (ElevatorJoystick.getThrottle() >= 0.75) {
       ElevatorSubsystem.down();
     }
   }

diff --git a/src/main/java/frc/robot/commands/FlyWCommand.java b/src/main/java/frc/robot/commands/FlyWCommand.java
@@ -25,15 +25,13 @@ public void initialize() {}
 
   @Override
   public void execute() {
-    if (FlyWJoystick.getPOV() == 315 | FlyWJoystick.getPOV() == 0 | FlyWJoystick.getPOV() == 45) {
+    if (FlyWJoystick.getPOV() == (315 | 0 | 45)) {
       m_FlyWSubsystem.enableflywheelfull();
-    } else if (FlyWJoystick.getPOV() == 225
-        | FlyWJoystick.getPOV() == 180
-        | FlyWJoystick.getPOV() == 135) {
+    } else if (FlyWJoystick.getPOV() == (225 | 180 | 135)) {
       m_FlyWSubsystem.enableflywheellow();
-    } else if (FlyWJoystick.getRawButton(12) == true) {
+    } else if (FlyWJoystick.getRawButton(12)) {
       m_FlyWSubsystem.enableflywheelreduced();
-    } else if (FlyWJoystick.getRawButton(7) == true) {
+    } else if (FlyWJoystick.getRawButton(11 | 7)) {
       m_FlyWSubsystem.reverseflywheel();
       System.out.println("Flywheels Moving in Reverse");
     } else {

diff --git a/src/main/java/frc/robot/commands/IntakeCommand.java b/src/main/java/frc/robot/commands/IntakeCommand.java
@@ -25,18 +25,18 @@ public void initialize() {}
 
   @Override
   public void execute() {
-    if (IntakeJoystick.getRawButton(5) == true) {
-      // sushi in
+    if (IntakeJoystick.getRawButton(5)) {
+      // sushi + Conveyor in
       m_intakeSubsystem.enableIntakeSushi();
-    } else if (IntakeJoystick.getRawButton(3) == true) {
-      // front in
+    } else if (IntakeJoystick.getRawButton(3)) {
+      // front + Conveyor in
       m_intakeSubsystem.enableIntakeFront();
-    } else if (IntakeJoystick.getRawButton(4) == true) {
-      // front out
+    } else if (IntakeJoystick.getRawButton(4)) {
+      // front + Conveyor out
       m_intakeSubsystem.reverseIntakeFront();
       System.out.println("Front Rollers Moving in Reverse");
-    } else if (IntakeJoystick.getRawButton(6) == true) {
-      // sushi out
+    } else if (IntakeJoystick.getRawButton(6)) {
+      // sushi + Conveyor out
       m_intakeSubsystem.reverseIntakeSushi();
       System.out.println("Sushi Rollers Moving in Reverse");
     } else {

diff --git a/src/main/java/frc/robot/subsystems/Intake.java b/src/main/java/frc/robot/subsystems/Intake.java
@@ -39,13 +39,13 @@ public void enableIntakeFront() {
     intakeFront.set(MechanismConstants.INTAKE_MOTOR_SPEED_FRONT);
   }
 
-  /** Sets the intake motors to 0% power. */
+  /** Sets both intake motors to 0% power. */
   public void disableIntake() {
     intakeSushi.set(0);
     intakeFront.set(0);
   }
 
-  /** Sets the intake motors to -100% power. (Reverse direction) */
+  /** Sets the sushi motors to -100% power. (Reverse direction) */
   public void reverseIntakeSushi() {
     intakeSushi.set(-MechanismConstants.INTAKE_MOTOR_SPEED_SUSHI);
   }