Team4388/RiseOfRidgebotics2020
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Add more mode constants

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- Control modes not working right now
This commit is contained in:
aborunda
2021-11-04 17:59:45 -06:00
parent 1503c7f027
commit c594f7d690
4 changed files with 108 additions and 59 deletions
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src/main/java/frc4388/robot/Constants.java
+15 -2
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@@ -7,6 +7,10 @@
package frc4388.robot;
import java.util.ArrayList;
import java.util.Vector;
import java.util.function.Consumer;
import com.ctre.phoenix.motorcontrol.SupplyCurrentLimitConfiguration;
import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics;
@@ -26,13 +30,20 @@ public final class Constants {
public enum Mode {
COMPETITIVE, CASUAL;
private static Mode mode;
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;
int i = mode.ordinal();
// changeHandlers.forEach(c -> c.accept(mode));
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];
}
public static void toggle() {
int i = mode.ordinal() + 1;
@@ -184,7 +195,8 @@ public final class Constants {
public static final class IntakeConstants {
public static final double EXTENDER_SPEED = 0.3;
public static final double INTAKE_SPEED = 1.0;
private static final double[] INTAKE_SPEED_MODES = { 1.0, 0.5 };
public static double INTAKE_SPEED;
public static final int INTAKE_SPARK_ID = 12;
public static final int EXTENDER_SPARK_ID = 13;
@@ -194,7 +206,8 @@ public final class Constants {
public static final int STORAGE_CAN_ID = 11;
public static final double STORAGE_PARTIAL_BALL = 2;
public static final double STORAGE_FULL_BALL = 7;
public static final double STORAGE_SPEED = 0.75;
private static final double[] STORAGE_SPEED_MODES = { 0.75, 0.50 };
public static double STORAGE_SPEED;
public static final double STORAGE_TIMEOUT = 3000;
/* Storage Characteristics */