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aarav18
2022-03-12 17:43:17 -07:00
parent 2a9a3d9486
commit 42421b51af
2 changed files with 29 additions and 14 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+22 -14
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@@ -132,6 +132,9 @@ public class RobotContainer {
// Function that removes the ".path" from the end of a string.
private static final Function<CharSequence, String> PATH_EXTENSION_REMOVER = ((Function<CharSequence, Matcher>) Pattern
.compile(".path")::matcher).andThen(m -> m.replaceFirst(""));
public boolean manual = false;
/**
* The container for the robot. Contains subsystems, OI devices, and commands.
@@ -292,17 +295,13 @@ public class RobotContainer {
// new JoystickButton(getOperatorController(), XboxController.Button.kB.value)
// .whenPressed(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotSwerveDrive, m_robotVisionOdometry));
/* Button Box Buttons */
new JoystickButton(getButtonFox(), ButtonBox.Button.kLeftSwitch.value)
.whenPressed(new InstantCommand(() -> configureManualButtonBindings()))
.whenReleased(new InstantCommand(() -> configureButtonBindings()));
.whenPressed(new RunCommand(() -> setManual(true)))
.whenReleased(new RunCommand(() -> setManual(false)));
new JoystickButton(getButtonFox(), ButtonBox.Button.kMiddleSwitch.value)
.whileHeld(new RunCommand(() -> System.out.println("MiddleSwitch")));
// new JoystickButton(getButtonFox(), ButtonBox.Button.kMiddleSwitch.value)
// .whileHeld(new RunCommand(() -> System.out.println("MiddleSwitch")));
new JoystickButton(getButtonFox(), ButtonBox.Button.kRightSwitch.value)
.whileHeld(new RunCommand(() -> System.out.println("RightSwitch")));
@@ -314,13 +313,18 @@ public class RobotContainer {
.whileHeld(new RunCommand(() -> System.out.println("RightButton")));
}
public void configureManualButtonBindings()
{
public void configureManualButtonBindings() {
new JoystickButton(getButtonFox(), ButtonBox.Button.kMiddleSwitch.value)
.whileHeld(new RunCommand(() -> System.out.println("Deez Nuts")));
new JoystickButton(getButtonFox(), ButtonBox.Button.kRightSwitch.value)
.whileHeld(new RunCommand(() -> System.out.println("Inna mouth")));
.whileHeld(new RunCommand(() -> System.out.println("MANUAL")));
}
public void configureAutomaticButtonBindings() {
new JoystickButton(getButtonFox(), ButtonBox.Button.kMiddleSwitch.value)
.whileHeld(new RunCommand(() -> System.out.println("AUTOMATIC")));
}
/**
@@ -363,6 +367,10 @@ public class RobotContainer {
return m_buttonFox;
}
public void setManual(boolean set) {
this.manual = set;
}
/**
* Get odometry.
*