Added reset functions to launcher and input managers, set intake to r…

…eset upon teleop init.
FRC830 · Feb 18, 2024 · 7785f61 · 7785f61
1 parent dcc82da
commit 7785f61
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Showing 5 changed files with 31 additions and 10 deletions.
diff --git a/src/main/cpp/Robot.cpp b/src/main/cpp/Robot.cpp
@@ -58,7 +58,10 @@ void Robot::AutonomousPeriodic() {
  }
 }
 
-void Robot::TeleopInit() {}
+void Robot::TeleopInit() 
+{
+ _intake_manager.ResetIntake();
+}
 
 void Robot::TeleopPeriodic() {
  PrintSwerveInfo();

diff --git a/src/main/cpp/subsystems/subsystemManagers/IntakeManager.cpp b/src/main/cpp/subsystems/subsystemManagers/IntakeManager.cpp
@@ -9,6 +9,14 @@ namespace
  const double PSEUDO_STOW_POS = 153.105;
 }
 
+void IntakeManager::ResetIntake()
+{
+ m_goToGroundPos = false;
+ m_goToStowPos = false;
+ m_goToAmpPos = false;
+ m_goToPseudoStowPos = false;
+}
+
 void IntakeManager::HandleInput(IntakeInput &input, IntakeOutput &output)
 {
  if (input.runIntakeIn && !input.runIntakeOut)
@@ -23,6 +31,7 @@ void IntakeManager::HandleInput(IntakeInput &input, IntakeOutput &output)
  {
  m_intake.RunIntake(0.0);
  }
+
  if (input.manualMove > 0.001)
  {
  m_intake.ManualMovePivot(input.manualMove);

diff --git a/src/main/cpp/subsystems/subsystemManagers/LauncherManager.cpp b/src/main/cpp/subsystems/subsystemManagers/LauncherManager.cpp
@@ -8,6 +8,13 @@ namespace
  const double INDEXER_SPEED = 0.0;
 }
 
+void LauncherManager::ResetLauncher()
+{
+ m_goToStowPos = false;
+ m_goToSubPos = false;
+ m_visionResetProfiledMoveState = false;
+}
+
 void LauncherManager::HandleInput(LauncherInput &input, LauncherOutput &output)
 {
  if (input.useVisionControl)

diff --git a/src/main/include/subsystems/subsystemsManagers/IntakeManager.h b/src/main/include/subsystems/subsystemsManagers/IntakeManager.h
@@ -32,7 +32,8 @@ class IntakeManager
 
 public:
  void HandleInput(IntakeInput &input, IntakeOutput &output);
-
+ void ResetIntake();
+
 private:
  IntakeHAL m_intake;
  bool m_goToGroundPos;

diff --git a/src/main/include/subsystems/subsystemsManagers/LauncherManager.h b/src/main/include/subsystems/subsystemsManagers/LauncherManager.h
@@ -21,12 +21,13 @@ struct LauncherOutput
 
 class LauncherManager
 {
-public:
- void HandleInput(LauncherInput &input, LauncherOutput &output);
-
-private:
- LauncherHAL m_launcher;
- bool m_goToStowPos;
- bool m_goToSubPos;
- bool m_visionResetProfiledMoveState = false;
+ public:
+ void HandleInput(LauncherInput &input, LauncherOutput &output);
+ void ResetLauncher();
+
+ private:
+ LauncherHAL m_launcher;
+ bool m_goToStowPos;
+ bool m_goToSubPos;
+ bool m_visionResetProfiledMoveState = false;
 };