trajectory keybinds

--Gabe
frc937 · Oct 31, 2023 · 9e75848 · 9e75848
1 parent decc1b7
commit 9e75848
Showing 1 changed file with 23 additions and 1 deletion.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -154,7 +154,29 @@ private void configureBindings() {
 
     controller.leftBumper().whileTrue(new InstantCommand(driveSubsystem::printPoses));
 
-    controller.y().toggleOnTrue(driveFO);
+    controller
+        .a()
+        .whileTrue(
+            new TrackTrajectory(
+                Constants.Trajectories.LOADING_ZONE_TO_UPPER_COMMUNITY, driveSubsystem));
+
+    controller
+        .b()
+        .whileTrue(
+            new TrackTrajectory(
+                Constants.Trajectories.LOADING_ZONE_TO_LOWER_COMMUNITY, driveSubsystem));
+
+    controller
+        .x()
+        .whileTrue(
+            new TrackTrajectory(
+                Constants.Trajectories.UPPER_COMMUNITY_TO_LOADING_ZONE, driveSubsystem));
+
+    controller
+        .y()
+        .whileTrue(
+            new TrackTrajectory(
+                Constants.Trajectories.LOWER_COMMUNITY_TO_LOADING_ZONE, driveSubsystem));
 
     controller.x().whileTrue(demoTrajectoryTrackingCommand);