adding ground pickup button to driver b

Iron-Panthers · Oct 4, 2023 · c97bc47 · c97bc47
1 parent 6213ef3
commit c97bc47
Showing 1 changed file with 12 additions and 0 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -329,6 +329,18 @@ private void configureButtonBindings() {
                         ? IntakeSubsystem.Modes.INTAKE_LOW
                         : IntakeSubsystem.Modes.INTAKE));
 
+    jason
+        .leftBumper()
+        .onTrue(
+            new GroundPickupCommand(
+                intakeSubsystem,
+                outtakeSubsystem,
+                armSubsystem,
+                () ->
+                    jason.getHID().getPOV() == 180
+                        ? IntakeSubsystem.Modes.INTAKE_LOW
+                        : IntakeSubsystem.Modes.INTAKE));
+
     jason
         .povUp()
         .onTrue(