[Robot] Removed force to stage

Literally never used. It was way too hard to line up with the stage without the angle automatically changing.
SouthwestRoboticsProgramming · Jul 18, 2024 · 1a960cd · 1a960cd
1 parent e2e86d0
commit 1a960cd
Showing 1 changed file with 5 additions and 5 deletions.
diff --git a/Robot/src/main/java/com/swrobotics/robot/control/ControlBoard.java b/Robot/src/main/java/com/swrobotics/robot/control/ControlBoard.java
@@ -75,9 +75,8 @@ public class ControlBoard extends SubsystemBase {
  private static final double MAX_DRIVE_ACCEL = 5.5; ; // Meters / second^2
  private final DriveAccelFilter driveFilter = new DriveAccelFilter(MAX_DRIVE_ACCEL);
 
- private final Debouncer driverFlywheelDebounce = new Debouncer(0.075);
- private final Debouncer forceSubwooferDebounce = new Debouncer(0.1);
- private final Debouncer forceStageCornerDebounce = new Debouncer(0.1);
+ private final Trigger forceSubwooferTrigger;
+
  private final Debouncer shootDebounce = new Debouncer(0.075);
 
  // FIXME: This is horrible and bad and terrible and get rid of it
@@ -129,6 +128,8 @@ public ControlBoard(RobotContainer robot) {
 
  new Trigger(() -> CHARACTERISE_WHEEL_RADIUS.get()).whileTrue(new CharactarizeWheelCommand(robot.drive));
 
+ forceSubwooferTrigger = new Trigger(() -> driver.dpad.down.isPressed()).debounce(0.1);
+
  new Trigger(operator.start::isPressed)
  .onTrue(Commands.runOnce(robot.indexer::beginReverse))
  .onFalse(Commands.runOnce(robot.indexer::endReverse));
@@ -216,8 +217,7 @@ public void periodic() {
  if (!operator.a.isPressed())
  robot.intake.set(IntakeSubsystem.State.OFF);
 
- boolean forceToSubwoofer = forceSubwooferDebounce.calculate(driver.dpad.left.isPressed());
- boolean forceToStageCorner = forceStageCornerDebounce.calculate(driver.dpad.right.isPressed());
+ boolean forceToSubwoofer = forceSubwooferTrigger.getAsBoolean();
  robot.drive.setEstimatorIgnoreVision(forceToSubwoofer || forceToStageCorner);
 
  if (forceToSubwoofer)