From db1de38d131dea0cf185643602d28d6282e72d02 Mon Sep 17 00:00:00 2001
From: Bradley Bickford <bradleybickford@gmail.com>
Date: Sat, 2 Aug 2025 14:31:28 -0400
Subject: [PATCH 1/2] One handed mode?

---
 src/main/java/frc/robot/RobotContainer.java | 38 +++++++++++++--------
 1 file changed, 23 insertions(+), 15 deletions(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 51272ed..a670131 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -11,6 +11,7 @@ import edu.wpi.first.wpilibj.util.Color;
 import edu.wpi.first.wpilibj.util.Color8Bit;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import frc.robot.LEDAnimationKit.AnimationManager;
 import frc.robot.LEDAnimationKit.LEDStrip;
@@ -38,10 +39,12 @@ public class RobotContainer {
 
   private AnimationManager manager;
 
-  //private FluidRainbow rainbow;
+  private FluidRainbow rainbow;
 
-  private Breathing b1;
-  private Breathing b2;
+  //private Breathing b1;
+  //private Breathing b2;
+
+  private boolean oneHandedMode;
 
   public RobotContainer() {
     drivetrain = new Drivetrain(true);
@@ -56,13 +59,13 @@ public class RobotContainer {
     );
     strip.start();
 
-    //rainbow = new FluidRainbow(strip, LEDConstants.kRainbowUpdateRate);
-    //rainbow.start();
-    l1 = new LogicalLEDStrip(strip, 0, 31);
-    l2 = new LogicalLEDStrip(strip, 31, 62);
+    rainbow = new FluidRainbow(strip, LEDConstants.kRainbowUpdateRate);
+    rainbow.start();
+    //l1 = new LogicalLEDStrip(strip, 0, 31);
+    //l2 = new LogicalLEDStrip(strip, 31, 62);
 
     
-
+    /* 
     b1 = new Breathing(
       l1, 
       LEDConstants.kBreathingUpdateRate, 
@@ -79,14 +82,16 @@ public class RobotContainer {
       LEDConstants.kBreathingMinPercentage, 
       LEDConstants.kBreathingMaxPercentage
     );
-    b2.start();
+    b2.start(); */
 
     manager = new AnimationManager(new PhysicalLEDStrip[] {strip});
-    //manager.registerAnimationForUpdate(rainbow);
-    manager.registerAnimationForUpdate(b1);
-    manager.registerAnimationForUpdate(b2);
+    manager.registerAnimationForUpdate(rainbow);
+    //manager.registerAnimationForUpdate(b1);
+    //manager.registerAnimationForUpdate(b2);
     manager.start(LEDConstants.kAnimationManagerUpdateRate);
 
+    oneHandedMode = false;
+
     configureBindings();
     configureShuffleboard();
 
@@ -101,16 +106,19 @@ public class RobotContainer {
       )
     );
 
+    driver.back().onTrue(new InstantCommand(() -> oneHandedMode = !oneHandedMode));
     driver.start().onTrue(drivetrain.toggleSlowMode());
 
     shooter.setDefaultCommand(
       shooter.setSpeed(
-        driver::getRightTriggerAxis
+        () -> oneHandedMode ? driver.getLeftTriggerAxis() : driver.getRightTriggerAxis()
       )
     );
 
-    driver.a().onTrue(pusher.spin());
-    driver.a().onFalse(pusher.stop());
+    driver.a().and(() -> !oneHandedMode).onTrue(pusher.spin());
+    driver.a().and(() -> !oneHandedMode).onFalse(pusher.stop());
+    driver.leftBumper().and(() -> oneHandedMode).onTrue(pusher.spin());
+    driver.leftBumper().and(() -> oneHandedMode).onFalse(pusher.stop());
   }
 
   private void configureShuffleboard() {

From a1aaf44cf9714ad306fdca7501dfb329607b08b3 Mon Sep 17 00:00:00 2001
From: Bradley Bickford <bradleybickford@gmail.com>
Date: Sat, 2 Aug 2025 16:42:25 -0400
Subject: [PATCH 2/2] A little bit of shuffleboard

---
 gradlew                                     | 0
 src/main/java/frc/robot/RobotContainer.java | 5 +++++
 2 files changed, 5 insertions(+)
 mode change 100644 => 100755 gradlew

diff --git a/gradlew b/gradlew
old mode 100644
new mode 100755
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index a670131..e98bf58 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -129,6 +129,11 @@ public class RobotContainer {
       .withSize(2, 1)
       .withWidget(BuiltInWidgets.kBooleanBox);
 
+    tab.addBoolean("One Handed Mode?", () -> oneHandedMode)
+      .withPosition(2, 0)
+      .withSize(2, 1)
+      .withWidget(BuiltInWidgets.kBooleanBox);
+
     Shuffleboard.selectTab("DRIVE");
   }