Merge branch 'lance/pivot' of https://github.com/team614frc/Team-614-…

…Bunny-Bandits into lance/pivot
team614frc · Dec 7, 2024 · 71c7931 · 71c7931
2 parents 752d8ce + 4c1d729
commit 71c7931
Showing 1 changed file with 11 additions and 1 deletion.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -54,6 +54,16 @@ public class RobotContainer {
           () -> MathUtil.applyDeadband(driverXbox.getLeftX(), OperatorConstants.LEFT_X_DEADBAND),
           () -> driverXbox.getRawAxis(2));
 
+  Command driveFieldOrientedAnglularVelocityPrecision =
+      drivebase.driveCommand(
+          () ->
+              MathUtil.applyDeadband(
+                  -driverXbox.getLeftY() * 0.5, OperatorConstants.LEFT_Y_DEADBAND),
+          () ->
+              MathUtil.applyDeadband(
+                  -driverXbox.getLeftX() * 0.5, OperatorConstants.LEFT_X_DEADBAND),
+          () -> driverXbox.getRightX() * -1 * 0.5);
+
   /** The container for the robot. Contains subsystems, OI devices, and commands. */
   public RobotContainer() {
     NamedCommands.registerCommand("Pivot Up", pivot.pivotUp());
@@ -84,7 +94,7 @@ private void configureBindings() {
     driverXbox.leftBumper().whileTrue(Commands.none());
     driverXbox.leftTrigger().whileTrue(intake.intakeBucket());
     driverXbox.rightTrigger().whileTrue(intake.outtakeBucket());
-    driverXbox.rightBumper().onTrue(Commands.none());
+    driverXbox.rightBumper().whileTrue(driveFieldOrientedAnglularVelocityPrecision);
     drivebase.setDefaultCommand(
         !RobotBase.isSimulation()
             ? driveFieldOrientedAnglularVelocity