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broken button box stuff

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aarav18
2022-03-18 18:29:53 -06:00
parent e1ef2f8aff
commit 30d9b49fbd
1 changed files with 26 additions and 5 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+26 -5
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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;
@@ -153,8 +154,8 @@ public class RobotContainer {
public static boolean softLimits = true;
// control mode switching
private enum ControlMode { SHOOTER, CLIMBER };
private ControlMode currentControlMode = ControlMode.SHOOTER;
public static enum ControlMode { SHOOTER, CLIMBER };
public static ControlMode currentControlMode = ControlMode.SHOOTER;
// turret mode switching
private enum TurretMode { MANUAL, AUTONOMOUS };
@@ -359,11 +360,31 @@ public class RobotContainer {
// .whenReleased(new RunCommand(() -> TurretManual.setManual(false)));
// new JoystickButton(getButtonBox(), ButtonBox.Button.kRightSwitch.value)
// .whenPressed(new InstantCommand(() -> {
// this.currentClimberMode = ClimberMode.AUTONOMOUS;
// if (this.currentControlMode.equals(ControlMode.SHOOTER)) { this.currentTurretMode = TurretMode.AUTONOMOUS; }
// if (this.currentControlMode.equals(ControlMode.CLIMBER)) { 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));
// // * 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.kRightSwitch.value)
// .whenPressed(new InstantCommand(() -> this.currentTurretMode = TurretMode.AUTONOMOUS))