ahoysal
commented
7 months ago - Cleaned up robot container
- Changed to XBox controller
- All functional commands moved to files so we can reuse them
- AimAtSpeaker warms up peter, moves the arm to a calculated angle, and constrains rotation on the robot to always face the speaker
- Intake intakes the note and sets down the arm, then pulls up the arm and backs up the shooter
- Rearranged so that auton is below configureButtonBindings
- Added button bindings
- Added safety to the arm so it doesn't collapse
- Added checks on most arm commands to end arm movement commands when near to the target position
- Made swerve locked angle command (basically just swerve joystick command with PID for turning and a supplied error function)
- A lot of the changes are gradle formatting! And deleting files that were empty or never used.