Child Mode

FRCTeam1987 · Mar 28, 2024 · 24f1b9d · 24f1b9d
1 parent 56e3974
commit 24f1b9d
Showing 1 changed file with 30 additions and 30 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -122,26 +122,26 @@ public RobotContainer() {
     configureShuffleboard();
     configureDrivetrain();
     configureDriverController();
-    configureCoDriverController();
+    //configureCoDriverController();
     configureDefaultCommands();
   }
 
   private void configureDriverController() {
-    DRIVER_CONTROLLER.b().onTrue(new ShootSubwoofer(ELEVATOR, WRIST, SHOOTER));
-
-    DRIVER_CONTROLLER
-        .y()
-        .onTrue(
-            new ConditionalCommand(
-                new GoHome(ELEVATOR, WRIST, SHOOTER, INTAKE)
-                    .andThen(() -> isReverseAmpPrimed = false),
-                new PrepRevAmp(ELEVATOR, WRIST)
-                    .andThen(new WaitCommand(0.8))
-                    .andThen(new FireRevAmp(SHOOTER))
-                    .andThen(new WaitCommand(0.1))
-                    .andThen(new InstantCommand(() -> ELEVATOR.setLengthInches(4.2)))
-                    .andThen(new InstantCommand(() -> isReverseAmpPrimed = true)),
-                () -> isReverseAmpPrimed));
+    // DRIVER_CONTROLLER.b().onTrue(new ShootSubwoofer(ELEVATOR, WRIST, SHOOTER));
+
+    // DRIVER_CONTROLLER
+    //     .y()
+    //     .onTrue(
+    //         new ConditionalCommand(
+    //             new GoHome(ELEVATOR, WRIST, SHOOTER, INTAKE)
+    //                 .andThen(() -> isReverseAmpPrimed = false),
+    //             new PrepRevAmp(ELEVATOR, WRIST)
+    //                 .andThen(new WaitCommand(0.8))
+    //                 .andThen(new FireRevAmp(SHOOTER))
+    //                 .andThen(new WaitCommand(0.1))
+    //                 .andThen(new InstantCommand(() -> ELEVATOR.setLengthInches(4.2)))
+    //                 .andThen(new InstantCommand(() -> isReverseAmpPrimed = true)),
+    //             () -> isReverseAmpPrimed));
     DRIVER_CONTROLLER
         .back()
         .onTrue(
@@ -164,20 +164,20 @@ private void configureDriverController() {
                     new AsyncRumble(
                         DRIVER_CONTROLLER.getHID(), RumbleType.kBothRumble, 1.0, 700L)));
 
-    DRIVER_CONTROLLER
-        .rightTrigger()
-        .whileTrue(
-            new PointAtAprilTag(
-                DRIVETRAIN,
-                SPEAKER_LIMELIGHT,
-                () -> (DRIVER_CONTROLLER.getLeftY()),
-                () -> (DRIVER_CONTROLLER.getLeftX()),
-                () -> (DRIVER_CONTROLLER.getRightX())));
-
-    DRIVER_CONTROLLER
-        .rightBumper()
-        .onTrue(new ShootNote(SHOOTER, ELEVATOR, Constants.Shooter.SHOOTER_RPM));
-    DRIVER_CONTROLLER.leftTrigger().onTrue(new LobNote(SHOOTER, WRIST, ELEVATOR));
+    // DRIVER_CONTROLLER
+    //     .rightTrigger()
+    //     .whileTrue(
+    //         new PointAtAprilTag(
+    //             DRIVETRAIN,
+    //             SPEAKER_LIMELIGHT,
+    //             () -> (DRIVER_CONTROLLER.getLeftY()),
+    //             () -> (DRIVER_CONTROLLER.getLeftX()),
+    //             () -> (DRIVER_CONTROLLER.getRightX())));
+
+    // DRIVER_CONTROLLER
+    //     .rightBumper()
+    //     .onTrue(new ShootNote(SHOOTER, ELEVATOR, Constants.Shooter.SHOOTER_RPM));
+    // DRIVER_CONTROLLER.leftTrigger().onTrue(new LobNote(SHOOTER, WRIST, ELEVATOR));
   }
 
   private void configureCoDriverController() {