add a simple scheduling example

CurtinFRC · Feb 11, 2024 · ebec657 · ebec657
1 parent 02cd628
commit ebec657
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Showing 2 changed files with 5 additions and 4 deletions.
diff --git a/src/main/cpp/Robot.cpp b/src/main/cpp/Robot.cpp
@@ -30,6 +30,7 @@
 #include <frc/controller/RamseteController.h>
 #include <frc/Timer.h>
 #include "behaviour/HasBehaviour.h"
+#include "drivetrain/behaviours/SwerveBehaviours.h"
 
 static units::second_t lastPeriodic;
 
@@ -143,10 +144,8 @@ void Robot::TeleopInit() {
   // alphaArm->OnStart();
   sched->InterruptAll();
 
-  // frontLeft->SetVoltage(4_V);
-  // frontRight->SetVoltage(4_V);
-  // backLeft->SetVoltage(4_V);
-  // backRight->SetVoltage(4_V);
+  robotmap.controllers.triggerDriver->XButton()->SetTrueBehaviour(
+      wom::make<wom::DrivebasePoseBehaviour>(_swerveDrive, frc::Pose2d(1_m, 0_m, frc::Rotation2d(0_rad))));
 }
 void Robot::TeleopPeriodic() {}
 

diff --git a/src/main/include/RobotMap.h b/src/main/include/RobotMap.h
@@ -25,6 +25,7 @@
 #include "Intake.h"
 #include "Shooter.h"
 #include "Wombat.h"
+#include "behaviour/TriggerXboxController.h"
 #include "utils/Encoder.h"
 #include "utils/PID.h"
 
@@ -33,6 +34,7 @@ struct RobotMap {
     frc::XboxController driver = frc::XboxController(0);
     frc::XboxController codriver = frc::XboxController(1);
     frc::XboxController testController = frc::XboxController(2);
+    wom::TriggerXboxController* triggerDriver = new wom::TriggerXboxController(0);
   };
   Controllers controllers;