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aarav18
2022-03-18 19:29:55 -06:00
parent b755f19de0
commit 33dc1ea3cb
2 changed files with 8 additions and 8 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+2 -2
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@@ -155,8 +155,8 @@ public class RobotContainer {
public static boolean softLimits = true;
// control mode switching
public static enum ControlMode { SHOOTER, CLIMBER };
public static ControlMode currentControlMode = ControlMode.SHOOTER;
private enum ControlMode { SHOOTER, CLIMBER };
private ControlMode currentControlMode = ControlMode.SHOOTER;
// turret mode switching
private enum TurretMode { MANUAL, AUTONOMOUS };
src/main/java/frc4388/robot/commands/ButtonBoxCommands/RunTurretOrClimberAuto.java
+6 -6
View File
@@ -45,12 +45,12 @@ public class RunTurretOrClimberAuto extends CommandBase {
@Override
public void execute() {
// check control mode here. if shooter control mode, run turret auto command. if climber control mode, run climber auto command.
if (RobotContainer.currentControlMode.equals(RobotContainer.ControlMode.SHOOTER)) {
new AimToCenter(this.turret, this.swerveDrive, this.visionOdometry);
}
if (RobotContainer.currentControlMode.equals(RobotContainer.ControlMode.CLIMBER)) {
new RunClimberPath(this.climber, this.claws, new Point[] {new Point()});
}
// if (RobotContainer.currentControlMode.equals(RobotContainer.ControlMode.SHOOTER)) {
// new AimToCenter(this.turret, this.swerveDrive, this.visionOdometry);
// }
// if (RobotContainer.currentControlMode.equals(RobotContainer.ControlMode.CLIMBER)) {
// new RunClimberPath(this.climber, this.claws, new Point[] {new Point()});
// }
}
// Called once the command ends or is interrupted.