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Setup novice mode #63

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merged 1 commit into from
Feb 3, 2024
Merged

Setup novice mode #63

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2 changes: 1 addition & 1 deletion SeriouslyCommonLib
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Submodule SeriouslyCommonLib updated 3 files
+14 −2 src/main/java/xbot/common/subsystems/drive/BaseSwerveDriveSubsystem.java
+10 −0 src/main/java/xbot/common/subsystems/drive/swerve/SwerveDriveSubsystem.java
+4 −0 src/main/java/xbot/common/subsystems/drive/swerve/SwerveModuleSubsystem.java
11 changes: 10 additions & 1 deletion src/main/java/competition/operator_interface/OperatorCommandMap.java
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Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,7 @@

import competition.subsystems.collector.commands.EjectCollectorCommand;
import competition.subsystems.collector.commands.IntakeCollectorCommand;
import competition.subsystems.drive.DriveSubsystem;
import competition.subsystems.oracle.SwerveAccordingToOracleCommand;
import competition.subsystems.oracle.DynamicOracle;
import competition.subsystems.oracle.ManualRobotKnowledgeSubsystem;
Expand All @@ -16,6 +17,7 @@
import competition.subsystems.shooter.commands.WarmUpShooterCommand;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import xbot.common.controls.sensors.XXboxController.XboxButton;
import xbot.common.subsystems.drive.SwerveSimpleTrajectoryCommand;
import xbot.common.subsystems.pose.commands.SetRobotHeadingCommand;
Expand Down Expand Up @@ -65,7 +67,8 @@ public void setupMobilityComands(
OperatorInterface operatorInterface,
Provider<SwerveSimpleTrajectoryCommand> swerveCommandProvider,
SetRobotHeadingCommand resetHeading,
DynamicOracle oracle
DynamicOracle oracle,
DriveSubsystem drive
)
{
double typicalVelocity = 2.5;
Expand All @@ -76,6 +79,12 @@ public void setupMobilityComands(
operatorInterface.driverGamepad.getXboxButton(XboxButton.A).onTrue(resetHeading);
LowResField fieldWithObstacles = oracle.getFieldWithObstacles();

var noviceMode = new InstantCommand(() -> drive.setNoviceMode(true));
var expertMode = new InstantCommand(() -> drive.setNoviceMode(false));

operatorInterface.driverGamepad.getXboxButton(XboxButton.LeftStick).onTrue(noviceMode);
operatorInterface.driverGamepad.getXboxButton(XboxButton.RightStick).onTrue(expertMode);

// Where are some cool places we may want to go..
// 1) Where there are Notes!
var goToTopSpike = createAndConfigureTypicalSwerveCommand(
Expand Down
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