merged main in, tried to do shufflebaord thing

DurhamAcademy · Apr 5, 2024 · 610041b · 610041b
1 parent 63c4079
commit 610041b
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Showing 2 changed files with 15 additions and 2 deletions.
diff --git a/src/main/java/frc/robot/subsystems/drive/Drive.java b/src/main/java/frc/robot/subsystems/drive/Drive.java
@@ -34,6 +34,7 @@
 import edu.wpi.first.units.Measure;
 import edu.wpi.first.units.Velocity;
 import edu.wpi.first.units.Voltage;
+import edu.wpi.first.util.sendable.Sendable;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.DriverStation.Alliance;
 import edu.wpi.first.wpilibj.Timer;
@@ -78,12 +79,23 @@ public class Drive extends SubsystemBase {
 
     private boolean overrideDriveAutoAim = false;
 
+    private boolean manualOverideDriveAutoAim = false;
+
     public boolean isOverrideDriveAutoAim() {
-        return overrideDriveAutoAim;
+        return overrideDriveAutoAim || manualOverideDriveAutoAim;
     }
 
     public void setOverrideDriveAutoAim(boolean overrideDriveAutoAim) {
-        this.overrideDriveAutoAim = overrideDriveAutoAim;
+        this.overrideDriveAutoAim = overrideDriveAutoAim || manualOverideDriveAutoAim;
+    }
+
+    public boolean isManualOverideDriveAutoAim() {
+        return manualOverideDriveAutoAim;
+    }
+
+    public Sendable setManualOverideDriveAutoAim(boolean manualOverideDriveAutoAim) {
+        this.manualOverideDriveAutoAim = manualOverideDriveAutoAim;
+        return null;
     }
 
     private SwerveDriveKinematics kinematics = new SwerveDriveKinematics(getModuleTranslations());

diff --git a/src/main/java/frc/robot/util/Dashboard.java b/src/main/java/frc/robot/util/Dashboard.java
@@ -42,6 +42,7 @@ public Dashboard(
             builder.addDoubleProperty("Back Right Angle", () -> drive.shuffleboardMethod()[3].getAngle().getRadians(), null);
             builder.addDoubleProperty("Robot Angle", () -> drive.getRotation().getRadians(), null);
         });
+        SmartDashboard.putData("Override Auto Aim", drive.setManualOverideDriveAutoAim(!(drive.isManualOverideDriveAutoAim())));
 //        main.add("Hood Angle Manager", hood.hoodPositionRad)
 //                .withWidget(BuiltInWidgets.kEncoder);
     }