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aarav18
2022-03-18 18:32:33 -06:00
parent e1ef2f8aff
commit 1fbf6bc9e9
3 changed files with 135 additions and 14 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+25 -14
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@@ -69,6 +69,7 @@ import frc4388.robot.Constants.ShooterConstants;
import frc4388.robot.Constants.StorageConstants;
import frc4388.robot.Constants.SwerveDriveConstants;
import frc4388.robot.commands.ButtonBoxCommands.RunMiddleSwitch;
import frc4388.robot.commands.ButtonBoxCommands.RunTurretOrClimberAuto;
import frc4388.robot.commands.ClimberCommands.RunClaw;
import frc4388.robot.commands.ClimberCommands.RunClimberPath;
// import frc4388.robot.commands.ButtonBoxCommands.TurretManual;
@@ -353,22 +354,32 @@ public class RobotContainer {
.whenReleased(new InstantCommand(() -> this.currentControlMode = ControlMode.SHOOTER));
// .whenReleased(EnableClimber()));
// control turret manual mode
// new JoystickButton(getButtonBox(), ButtonBox.Button.kRightSwitch.value)
// .whileHeld(new RunCommand(() -> TurretManual.setManual(true)))
// .whenReleased(new RunCommand(() -> TurretManual.setManual(false)));
new JoystickButton(getButtonBox(), ButtonBox.Button.kRightSwitch.value)
// new JoystickButton(getButtonBox(), ButtonBox.Button.kRightSwitch.value)
// .whenPressed(new InstantCommand(() -> {
// this.currentClimberMode = ClimberMode.AUTONOMOUS;
// }))
// .whenPressed(new RunClimberPath(m_robotClimber, m_robotClaws, new Point[] {new Point()}).until(() -> this.currentClimberMode.equals(ClimberMode.MANUAL)))
// .whenReleased(new InstantCommand(() -> this.currentClimberMode = ClimberMode.MANUAL));
.whenPressed(new InstantCommand(() -> {
if (this.currentControlMode.equals(ControlMode.SHOOTER)) { this.currentTurretMode = TurretMode.AUTONOMOUS; }
if (this.currentControlMode.equals(ControlMode.CLIMBER)) { this.currentClimberMode = ClimberMode.AUTONOMOUS; }
}))
// new JoystickButton(getButtonBox(), ButtonBox.Button.kRightSwitch.value)
// .whenPressed(new InstantCommand(() -> this.currentTurretMode = TurretMode.AUTONOMOUS))
// .whenPressed(new AimToCenter(m_robotTurret, m_robotSwerveDrive, m_robotVisionOdometry).until(() -> this.currentTurretMode.equals(TurretMode.MANUAL)))
// .whenReleased(new InstantCommand(() -> this.currentTurretMode = TurretMode.MANUAL));
// * custom Command inside InstantCommand
.whenPressed(new InstantCommand(() -> {
if (this.currentControlMode.equals(ControlMode.SHOOTER)) { new RunClimberPath(m_robotClimber, m_robotClaws, new Point[] {new Point()}); }
if (this.currentControlMode.equals(ControlMode.CLIMBER)) { new AimToCenter(m_robotTurret, m_robotSwerveDrive, m_robotVisionOdometry); }
})
.until(() -> this.currentClimberMode.equals(ClimberMode.MANUAL)))
// * external RunTurretOrClimberAutos command, which runs either one (conditionally) based on currentControlMode
.whenPressed(new RunTurretOrClimberAuto(m_robotTurret, m_robotSwerveDrive, m_robotVisionOdometry, m_robotClimber, m_robotClaws))
// * CommandChooser with BooleanSuppliers
// .whenPressed(new RunClimberPath(m_robotClimber, m_robotClaws, new Point[] {new Point()}).until(() -> this.currentClimberMode.equals(ClimberMode.MANUAL)))
// .whenPressed(new AimToCenter(m_robotTurret, m_robotSwerveDrive, m_robotVisionOdometry).until(() -> this.currentTurretMode.equals(TurretMode.MANUAL)))
.whenReleased(new InstantCommand(() -> {
if (this.currentControlMode.equals(ControlMode.SHOOTER)) { this.currentTurretMode = TurretMode.MANUAL; }
if (this.currentControlMode.equals(ControlMode.CLIMBER)) { this.currentClimberMode = ClimberMode.MANUAL; }
}));
new JoystickButton(getButtonBox(), ButtonBox.Button.kLeftButton.value)
.whileHeld(new RunCommand(() -> m_robotExtender.runExtender(-1.0), m_robotExtender))