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One handed mode?

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This commit is contained in:
Bradley Bickford 2025-08-02 14:31:28 -04:00
parent 90e033f921
commit db1de38d13
1 changed files with 23 additions and 15 deletions
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38
src/main/java/frc/robot/RobotContainer.java
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@ -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() {