Team4388/2022NoWayHome
1
0
Fork 0
mirror of https://github.com/Team4388/2022NoWayHome.git synced 2026-06-09 00:38:05 -06:00
Code Issues Packages Projects Releases Wiki Activity

fixed merge conflict before it even happens lol

Browse Source
This commit is contained in:
aarav18
2022-03-18 18:33:22 -06:00
parent e52ba2fe4c
commit e51f86e9c1
1 changed files with 0 additions and 50 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/RobotContainer.java
-50
View File
@@ -337,58 +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(() -> {
// if (this.currentControlMode.equals(ControlMode.SHOOTER)) { this.currentTurretMode = TurretMode.AUTONOMOUS; }
// if (this.currentControlMode.equals(ControlMode.CLIMBER)) { this.currentClimberMode = ClimberMode.AUTONOMOUS; }
// }))
// // * custom Command inside InstantCommand
// .whenPressed(new InstantCommand(() -> {
// if (this.currentControlMode.equals(ControlMode.SHOOTER)) { new RunClimberPath(m_robotClimber, m_robotClaws, new Point[] {new Point()}); }
// if (this.currentControlMode.equals(ControlMode.CLIMBER)) { new AimToCenter(m_robotTurret, m_robotSwerveDrive, m_robotVisionOdometry); }
// })
// .until(() -> this.currentClimberMode.equals(ClimberMode.MANUAL)))
// // * external RunTurretOrClimberAutos command, which runs either one (conditionally) based on currentControlMode
// .whenPressed(new RunTurretOrClimberAuto(m_robotTurret, m_robotSwerveDrive, m_robotVisionOdometry, m_robotClimber, m_robotClaws))
// // * CommandChooser with BooleanSuppliers
// // .whenPressed(new RunClimberPath(m_robotClimber, m_robotClaws, new Point[] {new Point()}).until(() -> this.currentClimberMode.equals(ClimberMode.MANUAL)))
// // .whenPressed(new AimToCenter(m_robotTurret, m_robotSwerveDrive, m_robotVisionOdometry).until(() -> this.currentTurretMode.equals(TurretMode.MANUAL)))
// .whenReleased(new InstantCommand(() -> {
// if (this.currentControlMode.equals(ControlMode.SHOOTER)) { this.currentTurretMode = TurretMode.MANUAL; }
// if (this.currentControlMode.equals(ControlMode.CLIMBER)) { 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))