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final changes hopefully

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aarav18
2022-03-18 19:44:17 -06:00
parent 33dc1ea3cb
commit 5512e55371
2 changed files with 24 additions and 21 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+23 -21
View File
@@ -155,16 +155,18 @@ public class RobotContainer {
public static boolean softLimits = true;
// control mode switching
private enum ControlMode { SHOOTER, CLIMBER };
private ControlMode currentControlMode = ControlMode.SHOOTER;
private enum SubsystemMode { SHOOTER, CLIMBER };
private SubsystemMode currentControlMode = SubsystemMode.SHOOTER;
private enum ControlMode { MANUAL, AUTONOMOUS};
// turret mode switching
private enum TurretMode { MANUAL, AUTONOMOUS };
private TurretMode currentTurretMode = TurretMode.MANUAL;
// private enum TurretMode { MANUAL, AUTONOMOUS };
private ControlMode currentTurretMode = ControlMode.AUTONOMOUS;
// climber mode switching
private enum ClimberMode { MANUAL, AUTONOMOUS };
private ClimberMode currentClimberMode = ClimberMode.MANUAL;
// private enum ClimberMode { MANUAL, AUTONOMOUS };
private ControlMode currentClimberMode = ControlMode.MANUAL;
/**
* The container for the robot. Contains subsystems, OI devices, and commands.
@@ -216,22 +218,22 @@ public class RobotContainer {
m_robotTurret.setDefaultCommand(
new RunCommand(() -> {
if (this.currentControlMode.equals(ControlMode.SHOOTER)) {
if (this.currentTurretMode.equals(TurretMode.MANUAL)) { m_robotTurret.runTurretWithInput(getOperatorController().getLeftX()); }
if (this.currentControlMode.equals(SubsystemMode.SHOOTER)) {
if (this.currentTurretMode.equals(ControlMode.MANUAL)) { m_robotTurret.runTurretWithInput(getOperatorController().getLeftX()); }
}
if (this.currentControlMode.equals(ControlMode.CLIMBER)) { m_robotTurret.runTurretWithInput(0); }
if (this.currentControlMode.equals(SubsystemMode.CLIMBER)) { m_robotTurret.runTurretWithInput(0); }
}, m_robotTurret));
m_robotHood.setDefaultCommand(
new RunCommand(() -> {
if (this.currentControlMode.equals(ControlMode.SHOOTER)) { m_robotHood.runHood(getOperatorController().getRightY()); }
if (this.currentControlMode.equals(ControlMode.CLIMBER)) { m_robotHood.runHood(0); }
if (this.currentControlMode.equals(SubsystemMode.SHOOTER)) { m_robotHood.runHood(getOperatorController().getRightY()); }
if (this.currentControlMode.equals(SubsystemMode.CLIMBER)) { m_robotHood.runHood(0); }
}, m_robotHood));
m_robotClimber.setDefaultCommand(
new RunCommand(() -> {
if (this.currentControlMode.equals(ControlMode.SHOOTER)) { m_robotClimber.setMotors(0, 0); }
if (this.currentControlMode.equals(ControlMode.CLIMBER)) { m_robotClimber.controlJointsWithInput(getOperatorController().getLeftX(), getOperatorController().getRightY()); }
if (this.currentControlMode.equals(SubsystemMode.SHOOTER)) { m_robotClimber.setMotors(0, 0); }
if (this.currentControlMode.equals(SubsystemMode.CLIMBER)) { m_robotClimber.controlJointsWithInput(getOperatorController().getLeftX(), getOperatorController().getRightY()); }
}, m_robotClimber));
// m_robotTurret.setDefaultCommand(
@@ -350,16 +352,16 @@ public class RobotContainer {
// .whenReleased(new InstantCommand(() -> m_robotHood.setDefaultCommand(
// new RunCommand(() -> m_robotHood.runHood(getOperatorController().getRightY()), m_robotHood))));
.whenPressed(new InstantCommand(() -> this.currentControlMode = ControlMode.CLIMBER))
.whenReleased(new InstantCommand(() -> this.currentControlMode = ControlMode.SHOOTER));
.whenPressed(new InstantCommand(() -> this.currentControlMode = SubsystemMode.CLIMBER))
.whenReleased(new InstantCommand(() -> this.currentControlMode = SubsystemMode.SHOOTER));
// .whenReleased(EnableClimber()));
// toggle manual mode and autonomous mode based on the current control mode
new JoystickButton(getButtonBox(), ButtonBox.Button.kRightSwitch.value)
.whenPressed(new InstantCommand(() -> {
if (this.currentControlMode.equals(ControlMode.SHOOTER)) { this.currentTurretMode = TurretMode.AUTONOMOUS; }
if (this.currentControlMode.equals(ControlMode.CLIMBER)) { this.currentClimberMode = ClimberMode.AUTONOMOUS; }
if (this.currentControlMode.equals(SubsystemMode.SHOOTER)) { this.currentTurretMode = ControlMode.MANUAL; }
if (this.currentControlMode.equals(SubsystemMode.CLIMBER)) { this.currentClimberMode = ControlMode.AUTONOMOUS; }
}))
// * custom Command inside InstantCommand
@@ -375,12 +377,12 @@ public class RobotContainer {
// * CommandChooser with BooleanSuppliers
.whenPressed(new CommandChooser(new RunClimberPath(m_robotClimber, m_robotClaws, new Point[] {new Point()}),
new AimToCenter(m_robotTurret, m_robotSwerveDrive, m_robotVisionOdometry),
() -> this.currentControlMode.equals(ControlMode.CLIMBER),
() -> this.currentControlMode.equals(ControlMode.SHOOTER)))
() -> this.currentControlMode.equals(SubsystemMode.CLIMBER),
() -> this.currentControlMode.equals(SubsystemMode.SHOOTER)))
.whenReleased(new InstantCommand(() -> {
if (this.currentControlMode.equals(ControlMode.SHOOTER)) { this.currentTurretMode = TurretMode.MANUAL; }
if (this.currentControlMode.equals(ControlMode.CLIMBER)) { this.currentClimberMode = ClimberMode.MANUAL; }
if (this.currentControlMode.equals(SubsystemMode.SHOOTER)) { this.currentTurretMode = ControlMode.AUTONOMOUS; }
if (this.currentControlMode.equals(SubsystemMode.CLIMBER)) { this.currentClimberMode = ControlMode.MANUAL; }
}));
new JoystickButton(getButtonBox(), ButtonBox.Button.kLeftButton.value)
src/main/java/frc4388/robot/commands/CommandChooser.java
+1
View File
@@ -9,6 +9,7 @@ import java.util.function.BooleanSupplier;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandBase;
import edu.wpi.first.wpilibj2.command.CommandGroupBase;
import edu.wpi.first.wpilibj2.command.Subsystem;
public class CommandChooser extends CommandBase {