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Ryan
2022-03-25 16:27:29 -06:00
parent ef336a2c09
commit 919e840700
1 changed files with 27 additions and 27 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+27 -27
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@@ -374,7 +374,7 @@ public class RobotContainer {
//! Button Box Buttons
// Left Switch > Disables soft limits on press, release resets encoders (all for turret, hood, climber, and extender)
SmartDashboard.putData("BB LEFT ON", new ParallelCommandGroup(
SmartDashboard.putData("BB LEFT ON", new SequentialCommandGroup(
new InstantCommand(() -> m_robotTurret.setTurretSoftLimits(false), m_robotTurret),
new InstantCommand(() -> m_robotTurret.calibrationSpeed = 0.3, m_robotTurret),
@@ -384,7 +384,7 @@ public class RobotContainer {
new InstantCommand(() -> m_robotExtender.setExtenderSoftLimits(false), m_robotExtender)
));
SmartDashboard.putData("BB LEFT OFF", new ParallelCommandGroup(
SmartDashboard.putData("BB LEFT OFF", new SequentialCommandGroup(
new InstantCommand(() -> m_robotTurret.setTurretSoftLimits(true), m_robotTurret),
new InstantCommand(() -> m_robotTurret.calibrationSpeed = 1.0, m_robotTurret),
@@ -400,40 +400,40 @@ public class RobotContainer {
new InstantCommand(() -> m_robotClimber.setEncoders(0), m_robotClimber)
));
new JoystickButton(getButtonBox(), ButtonBox.Button.kLeftSwitch.value)
.whenPressed(new InstantCommand(() -> m_robotTurret.setTurretSoftLimits(false), m_robotTurret))
.whenPressed(new InstantCommand(() -> m_robotTurret.calibrationSpeed = 0.3, m_robotTurret))
// new JoystickButton(getButtonBox(), ButtonBox.Button.kLeftSwitch.value)
// .whenPressed(new InstantCommand(() -> m_robotTurret.setTurretSoftLimits(false), m_robotTurret))
// .whenPressed(new InstantCommand(() -> m_robotTurret.calibrationSpeed = 0.3, m_robotTurret))
.whenPressed(new InstantCommand(() -> m_robotHood.setHoodSoftLimits(false), m_robotHood))
.whenPressed(new InstantCommand(() -> m_robotHood.calibrationSpeed = 0.3, m_robotHood))
// .whenPressed(new InstantCommand(() -> m_robotHood.setHoodSoftLimits(false), m_robotHood))
// .whenPressed(new InstantCommand(() -> m_robotHood.calibrationSpeed = 0.3, m_robotHood))
.whenPressed(new InstantCommand(() -> m_robotExtender.setExtenderSoftLimits(false), m_robotExtender))
// .whenPressed(new InstantCommand(() -> m_robotExtender.setExtenderSoftLimits(false), m_robotExtender))
.whenReleased(new InstantCommand(() -> m_robotTurret.setTurretSoftLimits(true), m_robotTurret))
.whenReleased(new InstantCommand(() -> m_robotTurret.calibrationSpeed = 1.0, m_robotTurret))
// .whenReleased(new InstantCommand(() -> m_robotTurret.setTurretSoftLimits(true), m_robotTurret))
// .whenReleased(new InstantCommand(() -> m_robotTurret.calibrationSpeed = 1.0, m_robotTurret))
.whenReleased(new InstantCommand(() -> m_robotHood.setHoodSoftLimits(true), m_robotHood))
.whenReleased(new InstantCommand(() -> m_robotHood.calibrationSpeed = 1.0, m_robotHood))
// .whenReleased(new InstantCommand(() -> m_robotHood.setHoodSoftLimits(true), m_robotHood))
// .whenReleased(new InstantCommand(() -> m_robotHood.calibrationSpeed = 1.0, m_robotHood))
.whenReleased(new InstantCommand(() -> m_robotExtender.setExtenderSoftLimits(true), m_robotExtender))
// .whenReleased(new InstantCommand(() -> m_robotExtender.setExtenderSoftLimits(true), m_robotExtender))
.whenReleased(new InstantCommand(() -> m_robotTurret.m_boomBoomRotateEncoder.setPosition(0), m_robotTurret))
.whenReleased(new InstantCommand(() -> m_robotHood.m_angleEncoder.setPosition(0), m_robotHood))
.whenReleased(new InstantCommand(() -> m_robotExtender.setEncoder(0), m_robotExtender))
.whenReleased(new InstantCommand(() -> ExtenderIntakeGroup.setDirectionToOut(), m_robotIntake, m_robotExtender))
.whenReleased(new InstantCommand(() -> m_robotClimber.setEncoders(0), m_robotClimber));
// .whenReleased(new InstantCommand(() -> m_robotTurret.m_boomBoomRotateEncoder.setPosition(0), m_robotTurret))
// .whenReleased(new InstantCommand(() -> m_robotHood.m_angleEncoder.setPosition(0), m_robotHood))
// .whenReleased(new InstantCommand(() -> m_robotExtender.setEncoder(0), m_robotExtender))
// .whenReleased(new InstantCommand(() -> ExtenderIntakeGroup.setDirectionToOut(), m_robotIntake, m_robotExtender))
// .whenReleased(new InstantCommand(() -> m_robotClimber.setEncoders(0), m_robotClimber));
// Middle Switch > Climber and Shooter mode switching
new JoystickButton(getButtonBox(), ButtonBox.Button.kMiddleSwitch.value)
.whenPressed(new InstantCommand(() -> currentControlMode = ControlMode.CLIMBER))
.whenReleased(new InstantCommand(() -> currentControlMode = ControlMode.SHOOTER));
// new JoystickButton(getButtonBox(), ButtonBox.Button.kRightSwitch.value)
// .whenPressed(new InstantCommand(() -> currentControlMode = ControlMode.))
// .whenReleased(new InstantCommand(() -> currentControlMode = ControlMode.SHOOTER));
// new JoystickButton(getButtonBox(), ButtonBox.Button.kMiddleSwitch.value)
// .whenPressed(new InstantCommand(() -> currentControlMode = ControlMode.CLIMBER))
// .whenReleased(new InstantCommand(() -> currentControlMode = ControlMode.SHOOTER));
// // new JoystickButton(getButtonBox(), ButtonBox.Button.kRightSwitch.value)
// // .whenPressed(new InstantCommand(() -> currentControlMode = ControlMode.))
// // .whenReleased(new InstantCommand(() -> currentControlMode = ControlMode.SHOOTER));
new JoystickButton(getButtonBox(), ButtonBox.Button.kRightSwitch.value)
.whileHeld(new InstantCommand(() -> currentDriveMode = DriveMode.OFF))
.whenReleased(new InstantCommand(() -> currentDriveMode = DriveMode.ON));
// new JoystickButton(getButtonBox(), ButtonBox.Button.kRightSwitch.value)
// .whileHeld(new InstantCommand(() -> currentDriveMode = DriveMode.OFF))
// .whenReleased(new InstantCommand(() -> currentDriveMode = DriveMode.ON));
// Left Button > Extender In
new JoystickButton(getButtonBox(), ButtonBox.Button.kLeftButton.value)