From 50986d400ffc043d8f5a57ac10e691e24ded8d2a Mon Sep 17 00:00:00 2001 From: Ryan Date: Fri, 8 Apr 2022 18:14:48 -0600 Subject: [PATCH] added toggle for climber ?? (Used at the end of Friday) --- src/main/java/frc4388/robot/RobotContainer.java | 14 +++++++++----- 1 file changed, 9 insertions(+), 5 deletions(-) diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 92daf84..fce523b 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -237,9 +237,13 @@ public class RobotContainer { new JoystickButton(getDriverController(), XboxController.Button.kRightBumper.value) .whenPressed(() -> m_robotSwerveDrive.highSpeed(true)); + // new JoystickButton(getDriverController(), XboxController.Button.kA.value) + // .whenPressed(new InstantCommand(() -> switchControlMode())) + // .whenReleased(new InstantCommand(() -> switchControlMode())); + new JoystickButton(getDriverController(), XboxController.Button.kA.value) - .whenPressed(new InstantCommand(() -> switchControlMode())) - .whenReleased(new InstantCommand(() -> switchControlMode())); + .whenPressed(new InstantCommand(() -> currentControlMode = ControlMode.CLIMBER)) + .whenReleased(new InstantCommand(() -> currentControlMode = ControlMode.SHOOTER)); new JoystickButton(getDriverController(), XboxController.Button.kB.value) .whenPressed(new InstantCommand(() -> switchDriveMode())) @@ -560,14 +564,14 @@ public class RobotContainer { // ! THREE BALL AUTO (ASSUMES ROBOT IS FACING DIRECTLY TOWARDS THE FIRST BALL OUTSIDE THE TARMAC, BUMPERS FLUSH WITH THE EDGE) SequentialCommandGroup threeBallAuto = new SequentialCommandGroup( idleDrumUntilShootingFirstBall(), - shoot(0.8), // TODO: optimize time + shoot(0.8), brakeStorage(0.1), intakeWithPathAndTrackTarget, // intakeWithPath1(3.0), // * this line and the one underneath it can be replaced with intakeWithPathAndTrackTarget - shoot(0.8), // TODO: optimize time + shoot(0.8), brakeStorage(0.1), intakeWithPath2AndIdleShooterAndAimTurret, - shoot(4.0), // TODO: optimize time + shoot(4.0), brakeStorage(0.1) );