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Give driver ability to collect #423

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Give driver ability to collect #423

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f1518d5
Give driver ability to collect
aschokking Apr 11, 2026
726491e
add ability to retract on dpad
aschokking Apr 11, 2026
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11 changes: 8 additions & 3 deletions src/main/java/competition/operator_interface/OperatorCommandMap.java
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Original file line number Diff line number Diff line change
Expand Up @@ -71,11 +71,16 @@ public void setupDriveCommands(OperatorInterface operatorInterface,
DriveThroughAllianceTrenchCommand driveThroughAllianceTrenchCommand,
IntakeSlowlyAndFireWhenReady intakeSlowlyAndFireWhenReady,
PrecisionModeCommand precisionModeCommand,
AimAndShootFromHereCommand aimAndShootFromHereCommand
AimAndShootFromHereCommand aimAndShootFromHereCommand,
IntakeDeployExtendCommand intakeDeployExtendCommand,
IntakeDeployRetractCommand intakeDeployRetractCommand,
HopperAndIntakeCommandGroup collect
) {
operatorInterface.driverGamepad.getPovIfAvailable(0).onTrue(driveThroughAllianceTrenchCommand);
// operatorInterface.driverGamepad.getPovIfAvailable(180).onTrue(lowPowerModeOffCommand);
operatorInterface.driverGamepad.getifAvailable(XXboxController.XboxButton.Start).onTrue(resetHeading);
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);
operatorInterface.driverGamepad.getifAvailable(XXboxController.XboxButton.X).whileTrue(xPositionCommand);
operatorInterface.driverGamepad.getifAvailable(XXboxController.XboxButton.A).whileTrue(rotateToHubCommand);
operatorInterface.driverGamepad.getifAvailable(XXboxController.XboxButton.RightBumper).whileTrue(intakeSlowlyAndFireWhenReady);
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