Merge branch 'vr-reset-180'

Team2338 · Feb 28, 2025 · 5092fc5 · 5092fc5
2 parents 807cddd + 7171ae8
commit 5092fc5
Showing 1 changed file with 12 additions and 9 deletions.
diff --git a/src/main/java/team/gif/robot/OI.java b/src/main/java/team/gif/robot/OI.java
@@ -10,6 +10,7 @@
 import team.gif.robot.commands.climber.ClimberClimb;
 import team.gif.robot.commands.climber.PistonToggleState;
 import team.gif.robot.commands.driveModes.EnableRobotOrientedMode;
+import team.gif.robot.commands.drivetrain.Reset180;
 import team.gif.robot.commands.elevator.SetElevatorPosition;
 import team.gif.robot.commands.shooter.Shoot;
 import team.gif.robot.commands.driveModes.EnableBoost;
@@ -111,9 +112,10 @@ public OI() {
          */
 
         // driver controls
-        dBack.and(dDPadDown).onTrue(new Reset0());
-        dBack.and(dDPadRight).onTrue(new InstantCommand(Robot.climber::zeroEncoder).ignoringDisable(true));
-        dBack.and(dDPadLeft).onTrue(new InstantCommand(Robot.elevator::zeroEncoder).ignoringDisable(true));
+        dStart.and(dDPadUp).onTrue(new Reset0());
+        dStart.and(dDPadDown).onTrue(new Reset180());
+        dStart.and(dDPadRight).onTrue(new InstantCommand(Robot.climber::zeroEncoder).ignoringDisable(true));
+        dStart.and(dDPadLeft).onTrue(new InstantCommand(Robot.elevator::zeroEncoder).ignoringDisable(true));
         dA.whileTrue(new RepeatCommand(new InstantCommand(Robot.swerveDrive::modulesTo90)));
         dRTrigger.whileTrue(new Shoot());
         dLBump.whileTrue(new EnableBoost());
@@ -122,16 +124,17 @@ public OI() {
         dRBump.whileTrue(new EnableRobotOrientedMode());
 
         // aux controls
-        aBack.and(aDPadDown).onTrue(new Reset0());
-        aBack.and(aDPadRight).onTrue(new InstantCommand(Robot.climber::zeroEncoder).ignoringDisable(true));
-        aBack.and(aDPadLeft).onTrue(new InstantCommand(Robot.elevator::zeroEncoder).ignoringDisable(true));
+        aStart.and(aDPadUp).onTrue(new Reset0());
+        aStart.and(aDPadDown).onTrue(new Reset180());
+        aStart.and(aDPadRight).onTrue(new InstantCommand(Robot.climber::zeroEncoder).ignoringDisable(true));
+        aStart.and(aDPadLeft).onTrue(new InstantCommand(Robot.elevator::zeroEncoder).ignoringDisable(true));
         aY.whileTrue(new ClimberClimb());
         aA.whileTrue(new ClimberDeploy());
         aStart.and(aBack).toggleOnTrue(new ToggleManualControl());
         aRBump.onTrue(new PistonToggleState());
-        aDPadUp.and(aBack.negate()).onTrue(new SetElevatorPosition(Constants.Elevator.LEVEL_4_POSITION));
-        aDPadLeft.and(aBack.negate()).onTrue(new SetElevatorPosition(Constants.Elevator.LEVEL_3_POSITION));
-        aDPadDown.and(aBack.negate()).onTrue(new SetElevatorPosition(Constants.Elevator.LEVEL_2_POSITION));
+        aDPadUp.and(aStart.negate()).onTrue(new SetElevatorPosition(Constants.Elevator.LEVEL_4_POSITION));
+        aDPadLeft.and(aStart.negate()).onTrue(new SetElevatorPosition(Constants.Elevator.LEVEL_3_POSITION));
+        aDPadDown.and(aStart.negate()).onTrue(new SetElevatorPosition(Constants.Elevator.LEVEL_2_POSITION));
         aLBump.onTrue(new SetElevatorPosition(Constants.Elevator.COLLECTOR_POSITION));
 
         //test sys id for elevator, delete later