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Merge branch 'testRoboReveal' of https://github.com/Team4388/2022NoWayHome into testRoboReveal

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aarav18
2022-03-18 23:08:04 -06:00
parent 46396a704f e19dc2d77c
commit cff0eb9c3f
2 changed files with 35 additions and 59 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+2 -32
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@@ -153,8 +153,8 @@ public class RobotContainer {
public static boolean softLimits = true;
// control mode switching
private enum ControlMode { SHOOTER, CLIMBER };
private ControlMode currentControlMode = ControlMode.SHOOTER;
public static enum ControlMode { SHOOTER, CLIMBER };
public static ControlMode currentControlMode = ControlMode.SHOOTER;
// turret mode switching
private enum TurretMode { MANUAL, AUTONOMOUS };
@@ -337,38 +337,8 @@ public class RobotContainer {
.whenReleased(new InstantCommand(() -> m_robotClimber.setEncoders(0), m_robotClimber));
new JoystickButton(getButtonBox(), ButtonBox.Button.kMiddleSwitch.value)
// .whenPressed(new InstantCommand(() -> m_robotTurret.setDefaultCommand(null)))
// .whenPressed(new InstantCommand(() -> m_robotHood.setDefaultCommand(null)))
// .whenPressed(new InstantCommand(() -> m_robotClimber.setDefaultCommand(
// new RunCommand(() -> m_robotClimber.setMotors(-getOperatorController().getLeftY(), -getOperatorController().getRightY()), m_robotClimber))))
// .whenReleased(new InstantCommand(() -> m_robotClimber.setDefaultCommand(null)))
// .whenReleased(new InstantCommand(() -> m_robotTurret.setDefaultCommand(
// new RunCommand(() -> m_robotTurret.runTurretWithInput(getOperatorController().getLeftX()), m_robotTurret))))
// .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));
// .whenReleased(EnableClimber()));
// control turret manual mode
// new JoystickButton(getButtonBox(), ButtonBox.Button.kRightSwitch.value)
// .whileHeld(new RunCommand(() -> TurretManual.setManual(true)))
// .whenReleased(new RunCommand(() -> TurretManual.setManual(false)));
// new JoystickButton(getButtonBox(), ButtonBox.Button.kRightSwitch.value)
// .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))