added button to reenable arm

LakeEffectRobotics · Mar 21, 2024 · 0867737 · 0867737
1 parent 91c38c1
commit 0867737
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diff --git a/src/main/java/frc/robot/OI.java b/src/main/java/frc/robot/OI.java
@@ -23,6 +23,7 @@ private static class DRIVER_MAP {
         private static final int SHIFT_UP_BUTTON = 3;
         private static final int SHIFT_DOWN_BUTTON = 2;
         private static final int LOW_SHIFT_BUTTON = 1;
+        private static final int ARM_TOGGLE_BUTTON = 4; //toggles value of armBroken incase there's a false positive
     }
 
     private static final XboxController xboxController = new XboxController(PORT.OPERATOR_CONTROLLER);
@@ -52,6 +53,8 @@ private static class OPERATOR_MAP {
     public static final JoystickButton shiftUpButton = new JoystickButton(rightJoystick, DRIVER_MAP.SHIFT_UP_BUTTON);
     public static final JoystickButton shiftDownButton = new JoystickButton(rightJoystick, DRIVER_MAP.SHIFT_DOWN_BUTTON);
     public static final JoystickButton lowShiftButton = new JoystickButton(leftJoystick, DRIVER_MAP.LOW_SHIFT_BUTTON);
+
+    public static final JoystickButton armToggleButton = new JoystickButton(leftJoystick, DRIVER_MAP.ARM_TOGGLE_BUTTON);
 
     /** Operator (Xbox Controller) */
     public static final Trigger spinOutClawButton = new Trigger(() -> xboxController.getRawAxis(OPERATOR_MAP.SPIN_OUT_INTAKE_TRIGGER) >= XBOX_TRIGGER_THRESHOLD);

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -50,6 +50,8 @@ private void configureBindings() {
     //OI.shiftDownButton.onTrue(new ShiftDownCommand(drivetrain));
 
     // Not requiring drivetrain because we dont want to interupt DriveCommand
+
+    //OI.armToggleButton.onTrue();
     OI.lowShiftButton.whileTrue(Commands.runOnce(() -> {
       drivetrain.disableAutoShifting();
       drivetrain.setGear(Gear.LOW);