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Merge branch 'shuffleboard-intake-index' of https://github.com/frc937…
…/robot2024 into shuffleboard-intake-index
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49 changes: 49 additions & 0 deletions
49
src/main/java/frc/robot/commands/drive/SetDrivePerspectiveFieldOriented.java
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// Copyright (c) FIRST and other WPILib contributors. | ||
// Open Source Software; you can modify and/or share it under the terms of | ||
// the WPILib BSD license file in the root directory of this project. | ||
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/* | ||
* Asimov's Laws: | ||
* The First Law: A robot may not injure a human being or, through inaction, allow a human being to come to harm. | ||
* The Second Law: A robot must obey the orders given it by human beings except where such orders would conflict with the First Law. | ||
* The Third Law: A robot must protect its own existence as long as such protection does not conflict with the First or Second Law. | ||
*/ | ||
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package frc.robot.commands.drive; | ||
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import edu.wpi.first.wpilibj2.command.Command; | ||
import frc.robot.Controllers; | ||
import frc.robot.RobotContainer; | ||
import frc.robot.subsystems.Drive; | ||
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/** Sets the current drive perspective to field oriented. */ | ||
public class SetDrivePerspectiveFieldOriented extends Command { | ||
/** Creates a new SetDrivePerspectiveFieldOriented. */ | ||
private Drive drive; | ||
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public SetDrivePerspectiveFieldOriented() { | ||
this.drive = RobotContainer.drive; | ||
addRequirements(drive); | ||
} | ||
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// Called when the command is initially scheduled. | ||
@Override | ||
public void initialize() { | ||
drive.setDefaultCommand(RobotContainer.driveFieldOriented); | ||
Controllers.pilotController.leftBumper().whileTrue(RobotContainer.driveFieldOrientedSprint); | ||
} | ||
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// Called every time the scheduler runs while the command is scheduled. | ||
@Override | ||
public void execute() {} | ||
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// Called once the command ends or is interrupted. | ||
@Override | ||
public void end(boolean interrupted) {} | ||
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// Returns true when the command should end. | ||
@Override | ||
public boolean isFinished() { | ||
return true; | ||
} | ||
} |
49 changes: 49 additions & 0 deletions
49
src/main/java/frc/robot/commands/drive/SetDrivePerspectiveFieldOrientedHeadingSnapping.java
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Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,49 @@ | ||
// Copyright (c) FIRST and other WPILib contributors. | ||
// Open Source Software; you can modify and/or share it under the terms of | ||
// the WPILib BSD license file in the root directory of this project. | ||
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||
/* | ||
* Asimov's Laws: | ||
* The First Law: A robot may not injure a human being or, through inaction, allow a human being to come to harm. | ||
* The Second Law: A robot must obey the orders given it by human beings except where such orders would conflict with the First Law. | ||
* The Third Law: A robot must protect its own existence as long as such protection does not conflict with the First or Second Law. | ||
*/ | ||
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package frc.robot.commands.drive; | ||
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import edu.wpi.first.wpilibj2.command.Command; | ||
import frc.robot.Controllers; | ||
import frc.robot.RobotContainer; | ||
import frc.robot.subsystems.Drive; | ||
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/** Sets the current drive perspective to field oriented with heading snapping. */ | ||
public class SetDrivePerspectiveFieldOrientedHeadingSnapping extends Command { | ||
/** Creates a new SetDrivePerspectiveFieldOriented. */ | ||
private Drive drive; | ||
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public SetDrivePerspectiveFieldOrientedHeadingSnapping() { | ||
this.drive = RobotContainer.drive; | ||
addRequirements(drive); | ||
} | ||
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// Called when the command is initially scheduled. | ||
@Override | ||
public void initialize() { | ||
drive.setDefaultCommand(RobotContainer.driveFieldOrientedHeadingSnapping); | ||
Controllers.pilotController.leftBumper().whileTrue(RobotContainer.driveFieldOrientedSprint); | ||
} | ||
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// Called every time the scheduler runs while the command is scheduled. | ||
@Override | ||
public void execute() {} | ||
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// Called once the command ends or is interrupted. | ||
@Override | ||
public void end(boolean interrupted) {} | ||
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// Returns true when the command should end. | ||
@Override | ||
public boolean isFinished() { | ||
return true; | ||
} | ||
} |
49 changes: 49 additions & 0 deletions
49
src/main/java/frc/robot/commands/drive/SetDrivePerspectiveRobotOriented.java
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Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,49 @@ | ||
// Copyright (c) FIRST and other WPILib contributors. | ||
// Open Source Software; you can modify and/or share it under the terms of | ||
// the WPILib BSD license file in the root directory of this project. | ||
|
||
/* | ||
* Asimov's Laws: | ||
* The First Law: A robot may not injure a human being or, through inaction, allow a human being to come to harm. | ||
* The Second Law: A robot must obey the orders given it by human beings except where such orders would conflict with the First Law. | ||
* The Third Law: A robot must protect its own existence as long as such protection does not conflict with the First or Second Law. | ||
*/ | ||
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package frc.robot.commands.drive; | ||
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import edu.wpi.first.wpilibj2.command.Command; | ||
import frc.robot.Controllers; | ||
import frc.robot.RobotContainer; | ||
import frc.robot.subsystems.Drive; | ||
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/** Sets the current drive perspective to robot oriented. */ | ||
public class SetDrivePerspectiveRobotOriented extends Command { | ||
/** Creates a new SetDrivePerspectiveFieldOriented. */ | ||
private Drive drive; | ||
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public SetDrivePerspectiveRobotOriented() { | ||
this.drive = RobotContainer.drive; | ||
addRequirements(drive); | ||
} | ||
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// Called when the command is initially scheduled. | ||
@Override | ||
public void initialize() { | ||
drive.setDefaultCommand(RobotContainer.driveRobotOriented); | ||
Controllers.pilotController.leftBumper().whileTrue(RobotContainer.driveRobotOrientedSprint); | ||
} | ||
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// Called every time the scheduler runs while the command is scheduled. | ||
@Override | ||
public void execute() {} | ||
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// Called once the command ends or is interrupted. | ||
@Override | ||
public void end(boolean interrupted) {} | ||
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// Returns true when the command should end. | ||
@Override | ||
public boolean isFinished() { | ||
return true; | ||
} | ||
} |