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Fix mode switching

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- Add button to ShuffleBoard
- Remove controller button
This commit is contained in:
nathanrsxtn
2021-11-18 17:45:49 -07:00
parent 9e6c9f29b5
commit 8438bc6768
3 changed files with 22 additions and 13 deletions
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src/main/java/frc4388/robot/Constants.java
+12 -4
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@@ -8,12 +8,14 @@
package frc4388.robot;
import java.util.ArrayList;
import java.util.ConcurrentModificationException;
import java.util.Vector;
import java.util.function.Consumer;
import com.ctre.phoenix.motorcontrol.SupplyCurrentLimitConfiguration;
import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics;
import edu.wpi.first.wpilibj2.command.CommandScheduler;
import frc4388.utility.Gains;
import frc4388.utility.LEDPatterns;
@@ -29,18 +31,25 @@ import frc4388.utility.LEDPatterns;
public final class Constants {
public enum Mode {
COMPETITIVE, CASUAL;
private static Mode mode;
private static Mode mode = Mode.COMPETITIVE;
private static Vector<Consumer<Mode>> changeHandlers = new Vector<>();
public static void register(Consumer<Mode> changeHandler) {
changeHandlers.add(changeHandler);
}
public static Mode get() {
return mode;
}
public static void set(Mode mode) {
Mode.mode = mode;
System.out.println(mode);
int i = mode.ordinal();
// changeHandlers.forEach(c -> c.accept(mode));
Mode.mode = mode;
CommandScheduler.getInstance().disable();
changeHandlers.forEach(c -> c.accept(mode));
CommandScheduler.getInstance().enable();
DriveConstants.DRIVE_WITH_JOYSTICK_FACTOR = DriveConstants.DRIVE_WITH_JOYSTICK_FACTOR_MODES[i];
IntakeConstants.INTAKE_SPEED = IntakeConstants.INTAKE_SPEED_MODES[i];
StorageConstants.STORAGE_SPEED = StorageConstants.STORAGE_SPEED_MODES[i];
@@ -50,7 +59,6 @@ public final class Constants {
Mode[] values = values();
i = i >= values.length ? 0 : i;
set(values[i]);
System.out.println(mode);
}
}