Team4388/2023WayOfTheRobot
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driver mode changes

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This commit is contained in:
aarav18
2023-03-22 20:12:27 -06:00
parent f6470655ae
commit 696da42f5a
2 changed files with 4 additions and 2 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+3 -1
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@@ -94,6 +94,7 @@ public class RobotContainer {
private SequentialCommandGroup alignToPole =
new SequentialCommandGroup(
new RotateToAngle(m_robotSwerveDrive, 0.0),
new InstantCommand(() -> m_robotLimeLight.setDriverMode(false), m_robotLimeLight),
new InstantCommand(() -> m_robotLimeLight.setToLimePipeline(), m_robotLimeLight),
new LimeAlign(m_robotSwerveDrive, m_robotLimeLight, () -> m_robotLimeLight.getLowestTape().getYaw(), 0.04),
new RotateToAngle(m_robotSwerveDrive, 0.0),
@@ -113,6 +114,7 @@ public class RobotContainer {
private SequentialCommandGroup alignToShelf =
new SequentialCommandGroup(
new AprilRotAlign(m_robotSwerveDrive, m_robotLimeLight),
new InstantCommand(() -> m_robotLimeLight.setDriverMode(false), m_robotLimeLight),
new InstantCommand(() -> m_robotLimeLight.setToAprilPipeline(), m_robotLimeLight),
new LimeAlign(m_robotSwerveDrive, m_robotLimeLight, () -> m_robotLimeLight.getAprilPoint().getYaw(), 0.04),
new AprilRotAlign(m_robotSwerveDrive, m_robotLimeLight),
@@ -122,7 +124,7 @@ public class RobotContainer {
public SequentialCommandGroup place = null;
private Consumer<SequentialCommandGroup> queuePlacement = (scg) -> {
place = scg.andThen(new InstantCommand(() -> readyForPlacement = false), new InstantCommand(() -> isPole = null), new InstantCommand(() -> place = null));
place = scg.andThen(new InstantCommand(() -> m_robotLimeLight.setDriverMode(true), m_robotLimeLight), new InstantCommand(() -> readyForPlacement = false), new InstantCommand(() -> isPole = null), new InstantCommand(() -> place = null));
};
// TODO: find actual values