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added toggle for climber ?? (Used at the end of Friday)

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This commit is contained in:
Ryan
2022-04-08 18:14:48 -06:00
parent 991701e04f
commit 50986d400f
1 changed files with 9 additions and 5 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+9 -5
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@@ -237,9 +237,13 @@ public class RobotContainer {
new JoystickButton(getDriverController(), XboxController.Button.kRightBumper.value)
.whenPressed(() -> m_robotSwerveDrive.highSpeed(true));
// new JoystickButton(getDriverController(), XboxController.Button.kA.value)
// .whenPressed(new InstantCommand(() -> switchControlMode()))
// .whenReleased(new InstantCommand(() -> switchControlMode()));
new JoystickButton(getDriverController(), XboxController.Button.kA.value)
.whenPressed(new InstantCommand(() -> switchControlMode()))
.whenReleased(new InstantCommand(() -> switchControlMode()));
.whenPressed(new InstantCommand(() -> currentControlMode = ControlMode.CLIMBER))
.whenReleased(new InstantCommand(() -> currentControlMode = ControlMode.SHOOTER));
new JoystickButton(getDriverController(), XboxController.Button.kB.value)
.whenPressed(new InstantCommand(() -> switchDriveMode()))
@@ -560,14 +564,14 @@ public class RobotContainer {
// ! THREE BALL AUTO (ASSUMES ROBOT IS FACING DIRECTLY TOWARDS THE FIRST BALL OUTSIDE THE TARMAC, BUMPERS FLUSH WITH THE EDGE)
SequentialCommandGroup threeBallAuto = new SequentialCommandGroup(
idleDrumUntilShootingFirstBall(),
shoot(0.8), // TODO: optimize time
shoot(0.8),
brakeStorage(0.1),
intakeWithPathAndTrackTarget,
// intakeWithPath1(3.0), // * this line and the one underneath it can be replaced with intakeWithPathAndTrackTarget
shoot(0.8), // TODO: optimize time
shoot(0.8),
brakeStorage(0.1),
intakeWithPath2AndIdleShooterAndAimTurret,
shoot(4.0), // TODO: optimize time
shoot(4.0),
brakeStorage(0.1)
);