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drive on + off, BB right switch

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This commit is contained in:
aarav18
2022-03-24 19:17:41 -06:00
parent a6916dbbf8
commit f038e14faa
1 changed files with 12 additions and 11 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+12 -11
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@@ -103,6 +103,9 @@ public class RobotContainer {
private enum ClimberMode { MANUAL, AUTONOMOUS };
private ClimberMode currentClimberMode = ClimberMode.MANUAL;
private enum DriveMode { ON, OFF };
private DriveMode currentDriveMode = DriveMode.ON;
private SendableChooser<SequentialCommandGroup> quickAutoChooser = new SendableChooser<>();
/**
@@ -214,18 +217,18 @@ public class RobotContainer {
// Swerve Drive with Input
m_robotSwerveDrive.setDefaultCommand(
new RunCommand(() -> {
if (RobotContainer.currentControlMode.equals(ControlMode.SHOOTER)) {
if (currentDriveMode.equals(DriveMode.ON)) {
m_robotSwerveDrive.driveWithInput( getDriverController().getLeftX(),
getDriverController().getLeftY(),
getDriverController().getRightX(),
getDriverController().getRightY(),
true); }
if (RobotContainer.currentControlMode.equals(ControlMode.CLIMBER)) {
if (currentDriveMode.equals(DriveMode.OFF)) {
m_robotSwerveDrive.driveWithInput( 0,
0,
0,
0,
true);
false);
}}
, m_robotSwerveDrive).withName("Swerve driveWithInput defaultCommand"));
@@ -375,15 +378,13 @@ public class RobotContainer {
// Middle Switch > Climber and Shooter mode switching
new JoystickButton(getButtonBox(), ButtonBox.Button.kMiddleSwitch.value)
.whenPressed(new InstantCommand(() -> this.currentControlMode = ControlMode.CLIMBER))
.whenReleased(new InstantCommand(() -> this.currentControlMode = ControlMode.SHOOTER));
new JoystickButton(getButtonBox(), ButtonBox.Button.kRightSwitch.value)
.whenPressed(new InstantCommand(() -> this.currentControlMode = ControlMode.CLIMBER))
.whenReleased(new InstantCommand(() -> this.currentControlMode = ControlMode.SHOOTER));
.whenPressed(new InstantCommand(() -> RobotContainer.currentControlMode = ControlMode.CLIMBER))
.whenReleased(new InstantCommand(() -> RobotContainer.currentControlMode = ControlMode.SHOOTER));
// Right Switch > Drive On vs Off mode switching
new JoystickButton(getButtonBox(), ButtonBox.Button.kRightSwitch.value)
.whileHeld(new InstantCommand(() -> m_robotExtender.invertExtender(-1.0)))
.whenReleased(new InstantCommand(() -> m_robotExtender.invertExtender(1.0)));
.whileHeld(new InstantCommand(() -> currentDriveMode = DriveMode.OFF))
.whenReleased(new InstantCommand(() -> currentDriveMode = DriveMode.ON));
// Left Button > Extender In
new JoystickButton(getButtonBox(), ButtonBox.Button.kLeftButton.value)