make it so arms can't go down until they go up

WTMCRobotics · Mar 7, 2024 · ee10acf · ee10acf
1 parent d0fbd37
commit ee10acf
Show file tree

Hide file tree

Showing 2 changed files with 13 additions and 11 deletions.
diff --git a/src/main/java/frc/robot/InputtedCoDriverControls.java b/src/main/java/frc/robot/InputtedCoDriverControls.java
@@ -13,6 +13,13 @@ public static void setCoDriverController(XboxController xboxController) {
         controller = xboxController;
     }
 
+    public static void onTeleopInit() {
+        hasGoneUp = false;
+    }
+
+    /**Prevents the codriver from accidentally moving the arms down */
+    static boolean hasGoneUp = false;
+
     public static void onEveryFrame() {
         if (controller.getYButtonPressed()) {
             Shooter.startFeedMotors();
@@ -26,7 +33,7 @@ public static void onEveryFrame() {
             Shooter.stopShooterMotors();
         }
 
-        if (controller.getLeftBumperPressed()) {
+        if (controller.getLeftBumper()) {
             Intake.startFloorIntake();
         }
         if (controller.getLeftBumperReleased()) {
@@ -35,7 +42,8 @@ public static void onEveryFrame() {
 
         if (controller.getStartButton()) {
             Climber.manualExtendArms();
-        } else if (controller.getBackButton()) {
+            hasGoneUp = true;
+        } else if (controller.getBackButton() && hasGoneUp) {
             Climber.manualRetractArms();
         } else {
             Climber.stopClimbMotors();

diff --git a/src/main/java/frc/robot/InputtedDriverControls.java b/src/main/java/frc/robot/InputtedDriverControls.java
@@ -24,15 +24,9 @@ public static void onEveryFrame() {
         }
     }
 
-    private static void stopAtShootingDistance() {
-        throw new UnsupportedOperationException("Unimplemented method 'stopAtShootingDistance'");
-    }
+    private static void stopAtShootingDistance() {}
 
-    private static void stopAtAmpShootingDistance() {
-        throw new UnsupportedOperationException("Unimplemented method 'stopAtAmpShootingDistance'");
-    }
+    private static void stopAtAmpShootingDistance() {}
 
-    private static void stopAtFeedingDistance() {
-        throw new UnsupportedOperationException("Unimplemented method 'stopAtFeedingDistance'");
-    }
+    private static void stopAtFeedingDistance() {}
 }