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

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aarav18
2022-03-18 17:44:04 -06:00
parent b1510d17ff c434b616ca
commit d1b9fb19cc
1 changed files with 26 additions and 13 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+26 -13
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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;
@@ -209,16 +214,18 @@ public class RobotContainer {
// m_robotTurret.setDefaultCommand(
// new RunCommand(() -> {
// if (this.currentMode.equals(Mode.SHOOTER)) { m_robotTurret.runTurretWithInput(getOperatorController().getLeftX()); }
// if (this.currentMode.equals(Mode.CLIMBER)) { m_robotTurret.runTurretWithInput(0); }
// 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.currentMode.equals(Mode.SHOOTER)) { m_robotHood.runHood(getOperatorController().getRightY()); }
// if (this.currentMode.equals(Mode.CLIMBER)) { m_robotHood.runHood(0); }
// 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); }
@@ -342,8 +349,8 @@ public class RobotContainer {
// .whenReleased(new InstantCommand(() -> m_robotHood.setDefaultCommand(
// new RunCommand(() -> m_robotHood.runHood(getOperatorController().getRightY()), m_robotHood))));
.whenPressed(new InstantCommand(() -> this.currentMode = Mode.CLIMBER))
.whenReleased(new InstantCommand(() -> this.currentMode = Mode.SHOOTER));
.whenPressed(new InstantCommand(() -> this.currentControlMode = ControlMode.CLIMBER))
.whenReleased(new InstantCommand(() -> this.currentControlMode = ControlMode.SHOOTER));
// .whenReleased(EnableClimber()));
// control turret manual mode
@@ -351,11 +358,17 @@ public class RobotContainer {
// .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))
// TODO: actual climber autonomous command goes here (next line)
.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.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))