two joysticks, disable vision

team5115 · Sep 11, 2024 · 7f93381 · 7f93381
1 parent 984474f
commit 7f93381
Showing 1 changed file with 8 additions and 7 deletions.
diff --git a/src/main/java/frc/team5115/RobotContainer.java b/src/main/java/frc/team5115/RobotContainer.java
@@ -2,7 +2,6 @@
 
 import com.pathplanner.lib.auto.AutoBuilder;
 import com.pathplanner.lib.auto.NamedCommands;
-
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.wpilibj2.command.Command;
@@ -58,6 +57,7 @@ public class RobotContainer {
 
     // Controller
     private final CommandXboxController joyDrive = new CommandXboxController(0);
+    private final CommandXboxController joyManip = new CommandXboxController(1);
 
     // Dashboard inputs
     private final LoggedDashboardChooser<Command> autoChooser;
@@ -80,7 +80,8 @@ public RobotContainer() {
                                 new ModuleIOSparkMax(1),
                                 new ModuleIOSparkMax(2),
                                 new ModuleIOSparkMax(3));
-                vision = new PhotonVision(drivetrain);
+                // vision = new PhotonVision(drivetrain);
+                vision = null;
                 break;
 
             case SIM:
@@ -159,28 +160,28 @@ private void configureButtonBindings() {
         // joyDrive.x().onTrue(Commands.runOnce(drivetrain::stopWithX, drivetrain));
         joyDrive.start().onTrue(resetFieldOrientation());
 
-        joyDrive
+        joyManip
                 .back()
                 .onTrue(DriveCommands.vomit(intake, feeder, shooter))
                 .onFalse(DriveCommands.forceStop(intake, feeder, shooter));
 
-        joyDrive.a().onTrue(DriveCommands.intakeUntilNote(arm, intake, feeder));
+        joyManip.a().onTrue(DriveCommands.intakeUntilNote(arm, intake, feeder));
 
-        joyDrive
+        joyManip
                 .y()
                 .onTrue(
                         Commands.parallel(arm.stow(), shooter.stop(), feeder.stop(), intake.stop())
                                 .withInterruptBehavior(InterruptionBehavior.kCancelSelf));
 
-        joyDrive
+        joyManip
                 .b()
                 .onTrue(DriveCommands.prepareShoot(arm, intake, feeder, shooter, 15, 5000))
                 .onFalse(
                         DriveCommands.feed(intake, feeder)
                                 .andThen(shooter.stop())
                                 .withInterruptBehavior(InterruptionBehavior.kCancelIncoming));
 
-        joyDrive
+        joyManip
                 .x()
                 .onTrue(DriveCommands.prepareAmp(arm, amper, intake, feeder))
                 .onFalse(DriveCommands.triggerAmp(arm, amper, intake, feeder));