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added default commands back in

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This commit is contained in:
aarav18
2022-03-18 19:28:46 -06:00
parent f890dda9f7
commit b755f19de0
1 changed files with 17 additions and 17 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+17 -17
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@@ -214,26 +214,25 @@ public class RobotContainer {
// new RunCommand(() -> m_robotTurret.runTurretWithInput(getOperatorController().getLeftX()),
// m_robotTurret).withName("Turret runTurretWithInput defaultCommand"));
// 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(ControlMode.CLIMBER)) { m_robotTurret.runTurretWithInput(0); }
// }, m_robotTurret));
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(ControlMode.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); }
// }, m_robotHood));
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); }
}, m_robotHood));
m_robotClimber.setDefaultCommand(
// new RunCommand(() -> {
// if (this.currentMode.equals(Mode.SHOOTER)) { m_robotClimber.setMotors(0, 0); }
/*if (this.currentMode.equals(Mode.CLIMBER)) { */new RunCommand(() -> m_robotClimber.controlJointsWithInput(getOperatorController().getLeftX(),
getOperatorController().getRightY()), m_robotClimber).withName("Climber controlWithInput defaultCommand")); //}
// }, m_robotClimber));
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()); }
}, m_robotClimber));
// m_robotTurret.setDefaultCommand(
// new AimToCenter(m_robotTurret, m_robotSwerveDrive, m_robotVisionOdometry));
@@ -355,6 +354,7 @@ public class RobotContainer {
.whenReleased(new InstantCommand(() -> this.currentControlMode = ControlMode.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(() -> {