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turret manual switching KINDA

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This commit is contained in:
aarav18
2022-03-18 17:39:06 -06:00
parent b308be888c
commit c434b616ca
1 changed files with 17 additions and 4 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+17 -4
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@@ -152,10 +152,15 @@ public class RobotContainer {
public static boolean softLimits = true;
// mode switching
// control mode switching
private enum ControlMode { SHOOTER, CLIMBER };
private ControlMode currentControlMode = ControlMode.SHOOTER;
// turret mode switching
private enum TurretMode { MANUAL, AUTONOMOUS };
private TurretMode currentTurretMode = TurretMode.MANUAL;
// climber mode switching
private enum ClimberMode { MANUAL, AUTONOMOUS };
private ClimberMode currentClimberMode = ClimberMode.MANUAL;
@@ -209,7 +214,9 @@ public class RobotContainer {
m_robotTurret.setDefaultCommand(
new RunCommand(() -> {
if (this.currentControlMode.equals(ControlMode.SHOOTER)) { m_robotTurret.runTurretWithInput(getOperatorController().getLeftX()); }
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));
@@ -340,11 +347,17 @@ public class RobotContainer {
// .whenReleased(new RunCommand(() -> TurretManual.setManual(false)));
new JoystickButton(getButtonBox(), ButtonBox.Button.kRightSwitch.value)
.whenPressed(new InstantCommand(() -> this.currentClimberMode = ClimberMode.AUTONOMOUS))
// TODO: actual climber autonomous command goes here (next line)
.whenPressed(new InstantCommand(() -> {
this.currentClimberMode = ClimberMode.AUTONOMOUS;
}))
.whenPressed(new RunClimberPath(m_robotClimber, m_robotClaws, new Point[] {new Point()}).until(() -> this.currentClimberMode.equals(ClimberMode.MANUAL)))
.whenReleased(new InstantCommand(() -> this.currentClimberMode = ClimberMode.MANUAL));
new JoystickButton(getButtonBox(), ButtonBox.Button.kRightSwitch.value)
.whenPressed(new InstantCommand(() -> this.currentTurretMode = TurretMode.AUTONOMOUS))
.whenPressed(new AimToCenter(m_robotTurret, m_robotSwerveDrive, m_robotVisionOdometry).until(() -> this.currentTurretMode.equals(TurretMode.MANUAL)))
.whenReleased(new InstantCommand(() -> this.currentTurretMode = TurretMode.MANUAL));
new JoystickButton(getButtonBox(), ButtonBox.Button.kLeftButton.value)
.whileHeld(new RunCommand(() -> m_robotExtender.runExtender(-1.0), m_robotExtender))
.whenReleased(new RunCommand(() -> m_robotExtender.runExtender(0.0), m_robotExtender));