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Implemented button for Toggle mode #41

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Implemented button for Toggle mode #41

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6 changes: 6 additions & 0 deletions src/main/java/frc/robot/RobotContainer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -40,6 +40,7 @@
import frc.robot.subsystems.leds.LEDsCommands;
import frc.robot.subsystems.elevator.Elevator.ElevatorPosition;
import frc.robot.subsystems.multisubsystemcommands.MultiSubsystemCommands;
import frc.robot.subsystems.multisubsystemcommands.MultiSubsystemCommands.GamepieceMode;
import frc.robot.subsystems.multisubsystemcommands.MultiSubsystemCommands.OverallPosition;
import frc.robot.subsystems.presets.Preset;

Expand Down Expand Up @@ -71,6 +72,9 @@ public class RobotContainer {
// private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
// .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) // Add a 10% deadband
// .withDriveRequestType(DriveRequestType.OpenLoopVoltage); // Use open-loop control for drive motors



private final SwerveRequest.SwerveDriveBrake brake = new SwerveRequest.SwerveDriveBrake();
private final SwerveRequest.PointWheelsAt point = new SwerveRequest.PointWheelsAt();

Expand All @@ -87,6 +91,7 @@ public class RobotContainer {
private final JoystickButton intakeButton = new JoystickButton(buttonbox1, 7);
private final JoystickButton L4_scoreButton = new JoystickButton(buttonbox1, 8);
private final JoystickButton spitButton = new JoystickButton(buttonbox1, 9);
private final JoystickButton toggleGamepieceMode = new JoystickButton(buttonbox1, 10);

private final GenericHID buttonbox2 = new GenericHID(2);
private final JoystickButton presetButton = new JoystickButton(buttonbox2, 2);
Expand Down Expand Up @@ -228,6 +233,7 @@ private void configureBindings() {
L4Button.onTrue(multiSubsystemCommands.setOverallSetpoint(OverallPosition.L4));
LoadingButton.onTrue(multiSubsystemCommands.setOverallSetpoint(OverallPosition.Loading));
L4_scoreButton.onTrue(multiSubsystemCommands.setOverallSetpoint(OverallPosition.L4_Score));
toggleGamepieceMode.onFalse(Commands.runOnce(() -> multiSubsystemCommands.setGamepieceMode(GamepieceMode.CORAL))).onTrue(Commands.runOnce(() -> multiSubsystemCommands.setGamepieceMode(GamepieceMode.ALGAE)));

// Runs the preset to score unless the preset is invalid.
joystick.rightBumper().onTrue(
Expand Down