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hotfix-break-coast switch -> master #82

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hotfix-break-coast switch -> master #82

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ecde7a7
noam - fixed break-coast switch
tnrz135 Sep 3, 2023
0fa8fa7
noam - fixed a bug
NoamRosenberg08 Sep 23, 2023
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5 changes: 3 additions & 2 deletions src/main/java/edu/greenblitz/tobyDetermined/Robot.java
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Original file line number Diff line number Diff line change
Expand Up @@ -112,13 +112,16 @@ public void robotPeriodic() {
@Override
public void disabledInit() {
CommandScheduler.getInstance().cancelAll();

BreakCoastSwitch.getInstance().setIsDisabled(true);
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Consider changing the name to something clearer, such as

Suggested change
BreakCoastSwitch.getInstance().setIsDisabled(true);
BreakCoastSwitch.getInstance().setDisabled(true);

In any case, couldn't you just get this from the driver station?

}



@Override
public void teleopInit() {
CommandScheduler.getInstance().cancelAll();
BreakCoastSwitch.getInstance().setIsDisabled(false);
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Same here.

//
// Grid.init();
// MultiLimelight.getInstance().updateRobotPoseAlliance();
Expand Down Expand Up @@ -214,8 +217,6 @@ public void disabledPeriodic() {
// SwerveChassis.getInstance().isEncoderBroken();
// Elbow.getInstance().resetEncoder();

BreakCoastSwitch.getInstance().toggleBreakCoast();

if (SwerveChassis.getInstance().isEncoderBroken()){
if (Extender.getInstance().DidReset()){
LED.getInstance().setColor(new Color(136, 8 ,90)); //dark red
Expand Down
36 changes: 29 additions & 7 deletions src/main/java/edu/greenblitz/utils/breakCoastToggle/BreakCoastSwitch.java
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Original file line number Diff line number Diff line change
Expand Up @@ -2,19 +2,28 @@

import edu.greenblitz.tobyDetermined.RobotMap;
import edu.greenblitz.tobyDetermined.subsystems.GBSubsystem;
import edu.wpi.first.math.filter.Debouncer;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.RobotController;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import org.apache.logging.log4j.core.appender.rolling.action.IfAll;

import java.sql.Driver;
import java.util.HashMap;

public class BreakCoastSwitch {
public class BreakCoastSwitch extends GBSubsystem {

private static BreakCoastSwitch instance;

private boolean isDisabled;
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What is the reason for this? 🤔


private static boolean lastState = false;
private DigitalInput switchInput;
private int switchPressCount;
private HashMap<GBSubsystem, BreakCoastRunnables> subsystems;
private Debouncer debouncer;

public static BreakCoastSwitch getInstance() {
if (instance == null) {
Expand All @@ -26,7 +35,9 @@ public static BreakCoastSwitch getInstance() {
private BreakCoastSwitch(int id) {
switchInput = new DigitalInput(id);
subsystems = new HashMap<>();
this.switchPressCount = 0;
this.switchPressCount = 1;
debouncer = new Debouncer(0.1);
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What is 0.1 in this context?

isDisabled = false;
}

public void addSubsystem(GBSubsystem subsystem, Runnable setBrakeMode, Runnable setCoastMode) {
Expand All @@ -47,25 +58,36 @@ public void setBreak() {
}
}

public void toggleBreakCoast() {
if (getSwitchState() != lastState) {
switchPressCount += lastState ? 1 : 0;

@Override
public void periodic() {
if (getSwitchState() != lastState && isDisabled) {
lastState = !lastState;
switchPressCount += lastState ? 1 : 0;
}
SmartDashboard.putNumber("cnt",switchPressCount);


if (this.switchPressCount % 2 == 1) {
SmartDashboard.putBoolean("is", true);
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setBreak();
} else if (this.switchPressCount % 2 == 0) {
SmartDashboard.putBoolean("is", false);
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setCoast();
}

SmartDashboard.putNumber("press count", switchPressCount);
}


public boolean getSwitchState() {
return !switchInput.get();
return !debouncer.calculate(switchInput.get());
}

public void setIsDisabled (boolean isDisabled){
this.isDisabled = isDisabled;
if(isDisabled){
switchPressCount++;
}
}

}