Team4388/2023WayOfTheRobot
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fixy fixy

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Aarav
2023-02-25 16:16:54 -07:00
parent f1680e66ec
commit 83e0b8f616
2 changed files with 11 additions and 8 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+6 -4
View File
@@ -79,6 +79,7 @@ public class RobotContainer {
private Command taxi = new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt");
PlaybackChooser playbackChooser;
/**
* The container for the robot. Contains subsystems, OI devices, and commands.
*/
@@ -104,8 +105,9 @@ public class RobotContainer {
chooser.addOption("Taxi", taxi);
PlaybackChooser playbackChooser = new PlaybackChooser(m_robotSwerveDrive,
"Balance", new AutoBalance(m_robotMap.gyro, m_robotSwerveDrive));
playbackChooser = new PlaybackChooser(m_robotSwerveDrive,
"Balance", new AutoBalance(m_robotMap.gyro, m_robotSwerveDrive),
"Balance2", new AutoBalance(m_robotMap.gyro, m_robotSwerveDrive));
new JoystickButton(getDeadbandedDriverController(), XboxController.X_BUTTON)
.onTrue(new InstantCommand(() -> playbackChooser.appendCommand()));
@@ -154,8 +156,8 @@ public class RobotContainer {
* @return the command to run in autonomous
*/
public Command getAutonomousCommand() {
return chooser.getSelected();
// return chooser.getSelected();
return playbackChooser.getCommand();
}
public DeadbandedXboxController getDeadbandedDriverController() {
src/main/java/frc4388/robot/commands/PlaybackChooser.java
+5 -4
View File
@@ -66,12 +66,13 @@ public class PlaybackChooser {
}
public Command getCommand() {
Command command = m_playback.getSelected();
Command command = m_playback.getSelected().asProxy();
for (int i = 1; i < m_choosers.size(); i++) {
command.andThen(m_choosers.get(i).getSelected());
Command[] commands = new Command[m_choosers.size() - 1];
for (int i = 0; i < m_choosers.size()-1; i++) {
commands[i] = m_choosers.get(i + 1).getSelected().asProxy();
}
return command;
return command.andThen(commands);
}
}