From f1518d51f50f74855a32396caf5621260e9cd89c Mon Sep 17 00:00:00 2001 From: Alex Schokking Date: Sat, 11 Apr 2026 11:08:23 -0700 Subject: [PATCH 1/2] Give driver ability to collect --- .../operator_interface/OperatorCommandMap.java | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/src/main/java/competition/operator_interface/OperatorCommandMap.java b/src/main/java/competition/operator_interface/OperatorCommandMap.java index 105607cc..453862fb 100644 --- a/src/main/java/competition/operator_interface/OperatorCommandMap.java +++ b/src/main/java/competition/operator_interface/OperatorCommandMap.java @@ -71,11 +71,15 @@ public void setupDriveCommands(OperatorInterface operatorInterface, DriveThroughAllianceTrenchCommand driveThroughAllianceTrenchCommand, IntakeSlowlyAndFireWhenReady intakeSlowlyAndFireWhenReady, PrecisionModeCommand precisionModeCommand, - AimAndShootFromHereCommand aimAndShootFromHereCommand + AimAndShootFromHereCommand aimAndShootFromHereCommand, + IntakeDeployExtendCommand intakeDeployExtendCommand, + HopperAndIntakeCommandGroup collect ) { operatorInterface.driverGamepad.getPovIfAvailable(0).onTrue(driveThroughAllianceTrenchCommand); // operatorInterface.driverGamepad.getPovIfAvailable(180).onTrue(lowPowerModeOffCommand); - operatorInterface.driverGamepad.getifAvailable(XXboxController.XboxButton.Start).onTrue(resetHeading); + operatorInterface.driverGamepad.getifAvailable(XXboxController.XboxButton.Back).onTrue(resetHeading); + var extendAndCollect = collect.alongWith(intakeDeployExtendCommand); + operatorInterface.driverGamepad.getifAvailable(XXboxController.XboxButton.Start).onTrue(extendAndCollect); operatorInterface.driverGamepad.getifAvailable(XXboxController.XboxButton.X).whileTrue(xPositionCommand); operatorInterface.driverGamepad.getifAvailable(XXboxController.XboxButton.A).whileTrue(rotateToHubCommand); operatorInterface.driverGamepad.getifAvailable(XXboxController.XboxButton.RightBumper).whileTrue(intakeSlowlyAndFireWhenReady); From 726491e0f08a531a9aeb987193d5c52a8f596716 Mon Sep 17 00:00:00 2001 From: Alex Schokking Date: Sat, 11 Apr 2026 11:12:19 -0700 Subject: [PATCH 2/2] add ability to retract on dpad --- .../competition/operator_interface/OperatorCommandMap.java | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/main/java/competition/operator_interface/OperatorCommandMap.java b/src/main/java/competition/operator_interface/OperatorCommandMap.java index 453862fb..a389b4d1 100644 --- a/src/main/java/competition/operator_interface/OperatorCommandMap.java +++ b/src/main/java/competition/operator_interface/OperatorCommandMap.java @@ -73,10 +73,11 @@ public void setupDriveCommands(OperatorInterface operatorInterface, PrecisionModeCommand precisionModeCommand, AimAndShootFromHereCommand aimAndShootFromHereCommand, IntakeDeployExtendCommand intakeDeployExtendCommand, + IntakeDeployRetractCommand intakeDeployRetractCommand, HopperAndIntakeCommandGroup collect ) { operatorInterface.driverGamepad.getPovIfAvailable(0).onTrue(driveThroughAllianceTrenchCommand); - // operatorInterface.driverGamepad.getPovIfAvailable(180).onTrue(lowPowerModeOffCommand); + operatorInterface.driverGamepad.getPovIfAvailable(180).onTrue(intakeDeployRetractCommand); operatorInterface.driverGamepad.getifAvailable(XXboxController.XboxButton.Back).onTrue(resetHeading); var extendAndCollect = collect.alongWith(intakeDeployExtendCommand); operatorInterface.driverGamepad.getifAvailable(XXboxController.XboxButton.Start).onTrue(extendAndCollect);