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no more drive on/off switch

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This commit is contained in:
aarav18
2022-03-25 11:28:28 -06:00
parent bdfa16679c
commit 05305d9243
1 changed files with 8 additions and 18 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+8 -18
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@@ -227,21 +227,11 @@ public class RobotContainer {
/* Default Commands */
// Swerve Drive with Input
m_robotSwerveDrive.setDefaultCommand(
new RunCommand(() -> {
if (currentDriveMode.equals(DriveMode.ON)) {
m_robotSwerveDrive.driveWithInput( getDriverController().getLeftX(),
getDriverController().getLeftY(),
getDriverController().getRightX(),
getDriverController().getRightY(),
true); }
if (currentDriveMode.equals(DriveMode.OFF)) {
m_robotSwerveDrive.driveWithInput( 0,
0,
0,
0,
false);
}}
, m_robotSwerveDrive).withName("Swerve driveWithInput defaultCommand"));
new RunCommand(() -> m_robotSwerveDrive.driveWithInput( getDriverController().getLeftX(),
getDriverController().getLeftY(),
getDriverController().getRightX(),
getDriverController().getRightY(),
true), m_robotSwerveDrive).withName("Swerve driveWithInput defaultCommand"));
// Intake with Triggers
m_robotIntake.setDefaultCommand(
@@ -398,9 +388,9 @@ public class RobotContainer {
.whenPressed(new InstantCommand(() -> currentControlMode = ControlMode.CLIMBER))
.whenReleased(new InstantCommand(() -> currentControlMode = ControlMode.SHOOTER));
new JoystickButton(getButtonBox(), ButtonBox.Button.kRightSwitch.value)
.whileHeld(new InstantCommand(() -> currentDriveMode = DriveMode.OFF))
.whenReleased(new InstantCommand(() -> currentDriveMode = DriveMode.ON));
// new JoystickButton(getButtonBox(), ButtonBox.Button.kRightSwitch.value)
// .whileHeld(new InstantCommand(() -> currentDriveMode = DriveMode.OFF))
// .whenReleased(new InstantCommand(() -> currentDriveMode = DriveMode.ON));
// Left Button > Extender In
new JoystickButton(getButtonBox(), ButtonBox.Button.kLeftButton.value)