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Fix launcher not disabling off the field #197

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Fix launcher not disabling off the field #197

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42 changes: 23 additions & 19 deletions src/main/java/frc/robot/Robot.java
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Original file line number Diff line number Diff line change
Expand Up @@ -316,13 +316,7 @@ public Robot() {
feeder.setDefaultCommand(Commands.startEnd(feeder::stop, () -> {}, feeder).withName("Stop"));
intake.setDefaultCommand(intake.getDefaultCommand());
launcher.setDefaultCommand(
launcher
.initializeHoodCommand()
.andThen(
new RunCommand(
() -> launcher.aim(GameState.getTarget(drive.getPose()).getTranslation()),
launcher)
.withName("Aim at hub")));
Commands.startEnd(launcher::stop, () -> {}, launcher).withName("Stop"));
}

/** This function is called periodically during all modes. */
Expand Down Expand Up @@ -541,27 +535,31 @@ public boolean getFieldRelativeInput() {
// Desaturate turret and advance feeder
zorroDriver.AIn(loop).whileTrue(createDesaturateAndShootCommand(controller));

// Launcher
// Launcher: dial-enabled off the field, always on once connected to the FMS
Trigger launcherEnabled =
zorroDriver.axisGreaterThan(Axis.kLeftDial.value, 0.5, loop).debounce(0.1);
launcherEnabled
.or(() -> DriverStation.isFMSAttached())
.whileTrue(
launcher
.initializeHoodCommand()
.andThen(
new RunCommand(
() ->
launcher.aim(GameState.getTarget(drive.getPose()).getTranslation()),
launcher)
.withName("Aim at hub")));
launcherEnabled.or(() -> DriverStation.isFMSAttached()).whileTrue(aimAtHubCommand());

// Intake
zorroDriver.HIn(loop).whileTrue(intake.getDeployCommand());

return controller;
}

/**
* Builds the launcher's "aim at hub" command: initializes the hood, then continuously tracks the
* hub target. Requires the launcher subsystem.
*/
private Command aimAtHubCommand() {
return launcher
.initializeHoodCommand()
.andThen(
new RunCommand(
() -> launcher.aim(GameState.getTarget(drive.getPose()).getTranslation()),
launcher)
.withName("Aim at hub"));
}

public DriverController bindXboxDriver(int port, EventLoop loop) {
var xboxDriver = new CommandXboxController(port);

Expand Down Expand Up @@ -672,6 +670,9 @@ public boolean getFieldRelativeInput() {
// Intake
xboxDriver.rightBumper(loop).whileTrue(intake.getDeployCommand());

// Launcher: no dial to gate it on this controller, so aim unconditionally
new Trigger(loop, () -> true).whileTrue(aimAtHubCommand());

return controller;
}

Expand Down Expand Up @@ -718,6 +719,9 @@ public boolean getFieldRelativeInput() {
.onTrue(
Commands.runOnce(() -> DriveCommands.resetDriverForward(drive)).ignoringDisable(true));

// Launcher: no dial to gate it on this controller, so aim unconditionally
new Trigger(loop, () -> true).whileTrue(aimAtHubCommand());

return controller;
}

Expand Down
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