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