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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
+11 -10
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@@ -103,6 +103,9 @@ public class RobotContainer {
private enum ClimberMode { MANUAL, AUTONOMOUS }; private enum ClimberMode { MANUAL, AUTONOMOUS };
private ClimberMode currentClimberMode = ClimberMode.MANUAL; private ClimberMode currentClimberMode = ClimberMode.MANUAL;
private enum DriveMode { ON, OFF };
private DriveMode currentDriveMode = DriveMode.ON;
private SendableChooser<SequentialCommandGroup> quickAutoChooser = new SendableChooser<>(); private SendableChooser<SequentialCommandGroup> quickAutoChooser = new SendableChooser<>();
/** /**
@@ -214,18 +217,18 @@ public class RobotContainer {
// Swerve Drive with Input // Swerve Drive with Input
m_robotSwerveDrive.setDefaultCommand( m_robotSwerveDrive.setDefaultCommand(
new RunCommand(() -> { new RunCommand(() -> {
if (RobotContainer.currentControlMode.equals(ControlMode.SHOOTER)) { if (currentDriveMode.equals(DriveMode.ON)) {
m_robotSwerveDrive.driveWithInput( getDriverController().getLeftX(), m_robotSwerveDrive.driveWithInput( getDriverController().getLeftX(),
getDriverController().getLeftY(), getDriverController().getLeftY(),
getDriverController().getRightX(), getDriverController().getRightX(),
getDriverController().getRightY(), getDriverController().getRightY(),
true); } true); }
if (RobotContainer.currentControlMode.equals(ControlMode.CLIMBER)) { if (currentDriveMode.equals(DriveMode.OFF)) {
m_robotSwerveDrive.driveWithInput( 0, m_robotSwerveDrive.driveWithInput( 0,
0, 0,
0, 0,
0, 0,
true); false);
}} }}
, m_robotSwerveDrive).withName("Swerve driveWithInput defaultCommand")); , m_robotSwerveDrive).withName("Swerve driveWithInput defaultCommand"));
@@ -375,15 +378,13 @@ public class RobotContainer {
// Middle Switch > Climber and Shooter mode switching // Middle Switch > Climber and Shooter mode switching
new JoystickButton(getButtonBox(), ButtonBox.Button.kMiddleSwitch.value) new JoystickButton(getButtonBox(), ButtonBox.Button.kMiddleSwitch.value)
.whenPressed(new InstantCommand(() -> this.currentControlMode = ControlMode.CLIMBER)) .whenPressed(new InstantCommand(() -> RobotContainer.currentControlMode = ControlMode.CLIMBER))
.whenReleased(new InstantCommand(() -> this.currentControlMode = ControlMode.SHOOTER)); .whenReleased(new InstantCommand(() -> RobotContainer.currentControlMode = ControlMode.SHOOTER));
new JoystickButton(getButtonBox(), ButtonBox.Button.kRightSwitch.value)
.whenPressed(new InstantCommand(() -> this.currentControlMode = ControlMode.CLIMBER))
.whenReleased(new InstantCommand(() -> this.currentControlMode = ControlMode.SHOOTER));
// Right Switch > Drive On vs Off mode switching
new JoystickButton(getButtonBox(), ButtonBox.Button.kRightSwitch.value) new JoystickButton(getButtonBox(), ButtonBox.Button.kRightSwitch.value)
.whileHeld(new InstantCommand(() -> m_robotExtender.invertExtender(-1.0))) .whileHeld(new InstantCommand(() -> currentDriveMode = DriveMode.OFF))
.whenReleased(new InstantCommand(() -> m_robotExtender.invertExtender(1.0))); .whenReleased(new InstantCommand(() -> currentDriveMode = DriveMode.ON));
// Left Button > Extender In // Left Button > Extender In
new JoystickButton(getButtonBox(), ButtonBox.Button.kLeftButton.value) new JoystickButton(getButtonBox(), ButtonBox.Button.kLeftButton.value)