Team4388/2022NoWayHome
1
0
Fork 0
mirror of https://github.com/Team4388/2022NoWayHome.git synced 2026-06-09 00:38:05 -06:00
Code Issues Packages Projects Releases Wiki Activity

drive mode on off mode switching

Browse Source
This commit is contained in:
aarav18
2022-03-25 10:29:17 -06:00
parent 99d1b5fe3d
commit 3096e29d13
1 changed files with 12 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/RobotContainer.java
+12 -8
View File
@@ -114,6 +114,10 @@ public class RobotContainer {
private enum ClimberMode { MANUAL, AUTONOMOUS };
private ClimberMode currentClimberMode = ClimberMode.MANUAL;
// drive on off mode switching
private enum DriveMode { ON, OFF };
private DriveMode currentDriveMode = DriveMode.ON;
private SendableChooser<SequentialCommandGroup> quickAutoChooser = new SendableChooser<>();
/**
@@ -224,13 +228,13 @@ public class RobotContainer {
// Swerve Drive with Input
m_robotSwerveDrive.setDefaultCommand(
new RunCommand(() -> {
if (RobotContainer.currentControlMode.equals(ControlMode.SHOOTER)) {
if (currentDriveMode.equals(DriveMode.ON)) {
m_robotSwerveDrive.driveWithInput( getDriverController().getLeftX(),
getDriverController().getLeftY(),
getDriverController().getRightX(),
getDriverController().getRightY(),
true); }
if (RobotContainer.currentControlMode.equals(ControlMode.CLIMBER)) {
if (currentDriveMode.equals(DriveMode.OFF)) {
m_robotSwerveDrive.driveWithInput( 0,
0,
0,
@@ -388,15 +392,15 @@ public class RobotContainer {
// Middle Switch > Climber and Shooter mode switching
new JoystickButton(getButtonBox(), ButtonBox.Button.kMiddleSwitch.value)
.whenPressed(new InstantCommand(() -> this.currentControlMode = ControlMode.CLIMBER))
.whenReleased(new InstantCommand(() -> this.currentControlMode = ControlMode.SHOOTER));
.whenPressed(new InstantCommand(() -> currentControlMode = ControlMode.CLIMBER))
.whenReleased(new InstantCommand(() -> currentControlMode = ControlMode.SHOOTER));
new JoystickButton(getButtonBox(), ButtonBox.Button.kRightSwitch.value)
.whenPressed(new InstantCommand(() -> this.currentControlMode = ControlMode.CLIMBER))
.whenReleased(new InstantCommand(() -> this.currentControlMode = ControlMode.SHOOTER));
.whenPressed(new InstantCommand(() -> currentControlMode = ControlMode.CLIMBER))
.whenReleased(new InstantCommand(() -> currentControlMode = ControlMode.SHOOTER));
new JoystickButton(getButtonBox(), ButtonBox.Button.kRightSwitch.value)
.whileHeld(new InstantCommand(() -> m_robotExtender.invertExtender(-1.0)))
.whenReleased(new InstantCommand(() -> m_robotExtender.invertExtender(1.0)));
.whileHeld(new InstantCommand(() -> currentDriveMode = DriveMode.OFF))
.whenReleased(new InstantCommand(() -> currentDriveMode = DriveMode.ON));
// Left Button > Extender In
new JoystickButton(getButtonBox(), ButtonBox.Button.kLeftButton.value)