From b8f8c99bfd8e48756fb21ed23bf97942e34c7e05 Mon Sep 17 00:00:00 2001
From: IsaacThoman <isaacthoman@proton.me>
Date: Fri, 22 Sep 2023 11:50:39 -0400
Subject: [PATCH] have arm not move while driving, brake mode on drivetrain

---
 .github/workflows/gradle.yml                  | 27 +++++++++++++++++++
 src/main/java/frc/robot/RobotContainer.java   |  4 +--
 .../robot/subsystems/GrabberSubsystem.java    |  6 ++++-
 .../robot/subsystems/drive/SwerveModule.java  |  2 +-
 4 files changed, 35 insertions(+), 4 deletions(-)
 create mode 100644 .github/workflows/gradle.yml

diff --git a/.github/workflows/gradle.yml b/.github/workflows/gradle.yml
new file mode 100644
index 0000000..eca5dde
--- /dev/null
+++ b/.github/workflows/gradle.yml
@@ -0,0 +1,27 @@
+name: Gradle build
+on:
+  push:
+    branches: ["**"]
+  pull_request:
+    branches: ["**"]
+jobs:
+  gradle:
+    strategy:
+      matrix:
+        os: [ubuntu-latest]
+    runs-on: ${{ matrix.os }}
+    steps:
+    - uses: actions/checkout@v3
+    - uses: actions/setup-java@v3
+      with:
+        distribution: temurin
+        java-version: 17
+        
+    - name: Setup Gradle
+      uses: gradle/gradle-build-action@v2
+      
+    - name: Set gradlew executable
+      run: chmod +x ./gradlew
+    
+    - name: Execute Gradle build
+      run: ./gradlew build
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 940b524..d0921b3 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -43,7 +43,7 @@ public RobotContainer() {
     // Configure the trigger bindings
     configureBindings();
 
-    grabberSub.setDefaultCommand(new RunCommand(()-> grabberSub.joystickDrive(xboxController.getLeftY(),xboxController.getRightY()), grabberSub));
+    grabberSub.setDefaultCommand(new RunCommand(()-> grabberSub.joystickDrive(xboxController.getLeftY(),xboxController.getRightY(), xboxController.getLeftBumper()), grabberSub));
     efSub.setDefaultCommand(new RunCommand(()->efSub.driveThing(xboxController.getLeftTriggerAxis() - xboxController.getRightTriggerAxis()),efSub));
     swerveSubsystem.setDefaultCommand(new RunCommand(()->swerveSubsystem.joystickDrive(0,0,0),swerveSubsystem));
   }
@@ -59,7 +59,7 @@ public RobotContainer() {
    * joysticks}.
    */
   private void configureBindings() {
-    new JoystickButton(xboxController, XboxController.Button.kA.value).whileTrue(new RunCommand(()->grabberSub.joystickDrive(operator1.getY()*0.5,operator2.getY()*0.5),grabberSub));
+    new JoystickButton(xboxController, XboxController.Button.kA.value).whileTrue(new RunCommand(()->grabberSub.joystickDrive(operator1.getY()*0.5,operator2.getY()*0.5, xboxController.getLeftBumper()),grabberSub));
     new JoystickButton(xboxController,XboxController.Button.kB.value).whileTrue(new InstantCommand(()->grabberSub.goHome()));
 
     new JoystickButton(xboxController,XboxController.Button.kLeftBumper.value).whileTrue(new RunCommand(()->swerveSubsystem.joystickDrive(xboxController.getLeftY()*-1, xboxController.getLeftX()*-1, xboxController.getRightX()*-1),swerveSubsystem));
diff --git a/src/main/java/frc/robot/subsystems/GrabberSubsystem.java b/src/main/java/frc/robot/subsystems/GrabberSubsystem.java
index 9eaf632..3629ca9 100644
--- a/src/main/java/frc/robot/subsystems/GrabberSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/GrabberSubsystem.java
@@ -41,7 +41,11 @@ public double[] thetaPhiToXYMeters(double stageOneAng, double stageTwoAng){
   }
 double lastControllerUpdateTime = Timer.getFPGATimestamp();
 
-  public void joystickDrive(double stageOneSpeed, double stageTwoSpeed){
+  public void joystickDrive(double stageOneSpeed, double stageTwoSpeed, boolean disabled){
+    if(disabled){
+      stageOneSpeed = 0;
+      stageTwoSpeed = 0;
+    }
     double timeSinceLastUpdate = Timer.getFPGATimestamp() - lastControllerUpdateTime;
     if(Math.abs(stageOneSpeed)<0.05) stageOneSpeed = 0;
     if(Math.abs(stageTwoSpeed)<0.05) stageTwoSpeed = 0;
diff --git a/src/main/java/frc/robot/subsystems/drive/SwerveModule.java b/src/main/java/frc/robot/subsystems/drive/SwerveModule.java
index 71147a9..01a4bf3 100644
--- a/src/main/java/frc/robot/subsystems/drive/SwerveModule.java
+++ b/src/main/java/frc/robot/subsystems/drive/SwerveModule.java
@@ -59,7 +59,7 @@ public SwerveModule(int driveMotorId, int turningMotorId, boolean driveMotorReve
     driveMotor.setStatusFramePeriod(StatusFrameEnhanced.Status_Brushless_Current, 251, 1000);
 
  //   driveMotor.configAllSettings(Robot.ctreConfigs.swerveDriveMotor, 1000);
-    driveMotor.setNeutralMode(NeutralMode.Coast);
+    driveMotor.setNeutralMode(NeutralMode.Brake);
     driveMotor.setInverted(driveMotorReversed);
       //debug output: driveMotor.config_kF(0, 0);
       //debug output: driveMotor.config_kP(0, 0);