Hailmary then chill #218
Hailmary then chill #218
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… last 0.2 seconds before end of match
| new Trigger(() -> Robot.gameMode == Robot.GameMode.DISABLED) | ||
| .onTrue(setAllCoast()); |
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This should be a .alongWith for line 192
| @@ -182,6 +187,14 @@ private void configureButtonBindings() { | |||
| .onFalse(pathPlannerStorage.updatePathViewerCommand()); | |||
| } | |||
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| private void configureTimedEvents() { | |||
| new Trigger(() -> Robot.currentTimestamp >= 119.8 && intake.getPossession() && DriverStation.isFMSAttached()) | |||
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Don't worry about our FMSAttached state here, if it isn't there then this serves as a subtle indicator that the match would have ended if we are doing driver practice. It might be useful to check if FMS is attached to set motors to coast mode, however.
| public Command setAllCoast() { | ||
| return Commands.sequence( | ||
| intake.setCoastMode(), | ||
| indexer.setCoastMode(), | ||
| trapper.setCoastMode() | ||
| ); | ||
| } |
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move to pieceControl and rename to coastIntakeAndIndexer or something better if you can think of it.
| @@ -170,6 +172,9 @@ public RobotContainer() { | |||
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| configureButtonBindings(); | |||
| configureLoggingPaths(); | |||
| configureTimedEvents(); | |||
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this should be on line 184 inside of configureButtonBindings. Feel free to move lines 185-187 into configureTimedEvents
| } | ||
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| private void configureTimedEvents() { | ||
| new Trigger(() -> Robot.currentTimestamp - gamemodeStart >= 134.8) |
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this should also make sure we are not disabled on the chance the robot starts and sits for > 134.8 seconds before enabling for the first time.
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my 99th contribution >:D |
added commands so that there will be a final shot if there is a piece in possession at a certain time stamp at the end of the match as well as creating coast modes for all subsystems, except for elevator and climb.