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aarav18
2022-03-20 22:15:28 -06:00
parent 80f0f3c76d
commit 258db7ab9e
1 changed files with 12 additions and 33 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+12 -33
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@@ -71,6 +71,7 @@ import frc4388.robot.Constants.OIConstants;
import frc4388.robot.Constants.ShooterConstants;
import frc4388.robot.Constants.StorageConstants;
import frc4388.robot.Constants.SwerveDriveConstants;
import frc4388.robot.commands.BasicCommandChooser;
import frc4388.robot.commands.ComplexCommandChooser;
import frc4388.robot.commands.ButtonBoxCommands.RunMiddleSwitch;
import frc4388.robot.commands.ButtonBoxCommands.RunTurretOrClimberAuto;
@@ -170,6 +171,7 @@ public class RobotContainer {
// climber mode switching
// private enum ClimberMode { MANUAL, AUTONOMOUS };
private ControlMode currentClimberMode = ControlMode.MANUAL;
private boolean command1 = true;
/**
* The container for the robot. Contains subsystems, OI devices, and commands.
@@ -361,40 +363,17 @@ public class RobotContainer {
// toggle manual mode and autonomous mode based on the current control mode
new JoystickButton(getButtonBox(), ButtonBox.Button.kRightSwitch.value)
.whenPressed(new InstantCommand(() -> this.command1 = !this.command1))
.whenPressed(new BasicCommandChooser( new RunCommand(() -> System.out.println("COMMAND 1")),
new RunCommand(() -> System.out.println("COMMAND 2")),
() -> this.command1 == true,
() -> this.command1 == false))
.whenReleased(new InstantCommand(() -> this.command1 = !this.command1));
// .whenPressed(new InstantCommand(() -> {
// if (this.currentControlMode.equals(SubsystemMode.CLIMBER)) { m_robotTurret.gotoZero(); }
// }, m_robotTurret))
// .whenPressed(new InstantCommand(() -> {
// if (this.currentControlMode.equals(SubsystemMode.SHOOTER)) { this.currentTurretMode = ControlMode.MANUAL; }
// if (this.currentControlMode.equals(SubsystemMode.CLIMBER)) { this.currentClimberMode = ControlMode.AUTONOMOUS; }
// }))
// * custom Command inside InstantCommand
// .whenPressed(new InstantCommand(() -> {
// if (this.currentControlMode.equals(ControlMode.CLIMBER)) { new RunClimberPath(m_robotClimber, m_robotClaws, new Point[] {new Point()}); }
// if (this.currentControlMode.equals(ControlMode.SHOOTER)) { 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 ComplexCommandChooser(new HashMap<Command, BooleanSupplier>() {{
put(new RunClimberPath(m_robotClimber, m_robotClaws, new Point[] {new Point()}), () -> currentControlMode.equals(SubsystemMode.CLIMBER));
put(new AimToCenter(m_robotTurret, m_robotSwerveDrive, m_robotVisionOdometry), () -> currentControlMode.equals(SubsystemMode.SHOOTER));
}}));
// .whenPressed(new CommandChooser(new RunClimberPath(m_robotClimber, m_robotClaws, new Point[] {new Point()}),
// new AimToCenter(m_robotTurret, m_robotSwerveDrive, m_robotVisionOdometry),
// () -> this.currentControlMode.equals(SubsystemMode.CLIMBER),
// () -> this.currentControlMode.equals(SubsystemMode.SHOOTER)))
// .whenReleased(new InstantCommand(() -> {
// if (this.currentControlMode.equals(SubsystemMode.SHOOTER)) { this.currentTurretMode = ControlMode.AUTONOMOUS; }
// if (this.currentControlMode.equals(SubsystemMode.CLIMBER)) { this.currentClimberMode = ControlMode.MANUAL; }
// }));
// .whenPressed(new ComplexCommandChooser(new HashMap<Command, BooleanSupplier>() {{
// put(new RunClimberPath(m_robotClimber, m_robotClaws, new Point[] {new Point()}), () -> currentControlMode.equals(SubsystemMode.CLIMBER));
// put(new AimToCenter(m_robotTurret, m_robotSwerveDrive, m_robotVisionOdometry), () -> currentControlMode.equals(SubsystemMode.SHOOTER));
// }}));
new JoystickButton(getButtonBox(), ButtonBox.Button.kLeftButton.value)
.whileHeld(new RunCommand(() -> m_robotExtender.runExtender(-1.0), m_robotExtender))