Merge pull request #22 from ATAARobotics/Jacob-Guglielmin-patch-2

Remove vision alignment activation code - doesn't work
ATAARobotics · Apr 12, 2022 · 4781527 · 4781527
2 parents 259f5f5 + d173507
commit 4781527
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Showing 2 changed files with 4 additions and 5 deletions.
diff --git a/src/main/java/frc/robot/OI.java b/src/main/java/frc/robot/OI.java
@@ -35,7 +35,7 @@ class OI {
     public Trigger shootLow;
     public Trigger shootHighFar;
     public Trigger shootLaunchpad;
-    public Trigger abortVisionAlign;
+    //public Trigger abortVisionAlign;
     public JoystickButton aimRight;
     public JoystickButton aimLeft;
     private double speed;
@@ -62,7 +62,7 @@ public OI() {
         shootLow = gunnerStick.getDPadTrigger("ShootLow");
         shootHighFar = gunnerStick.getDPadTrigger("ShootHighFar");
         shootLaunchpad = gunnerStick.getDPadTrigger("ShootLaunchpad");
-        abortVisionAlign = gunnerStick.getDPadTrigger("AbortVisionAlign");
+        //abortVisionAlign = gunnerStick.getDPadTrigger("AbortVisionAlign");
         climbMotorUp = gunnerStick.getWPIJoystickButton("ElevatorUp");
         climbMotorDown = gunnerStick.getWPIJoystickButton("ElevatorDown");
         climbArm = gunnerStick.getWPIJoystickButton("ToggleClimbArm");

diff --git a/src/main/java/frc/robot/Teleop.java b/src/main/java/frc/robot/Teleop.java
@@ -171,7 +171,6 @@ public void teleopPeriodic() {
             xVelocity = joysticks.getXVelocity()*speed;
             yVelocity = joysticks.getYVelocity()*speed;
             rotationVelocity = joysticks.getRotationVelocity()*speed* 0.80;
-
         }
 
         //Run periodic tasks on the swerve drive, setting the velocity and rotation
@@ -197,15 +196,15 @@ private void configureBindings() {
                 )
             );
 
-        joysticks.abortVisionAlign
+        /* joysticks.abortVisionAlign
             .whenActive(() -> {
                 if (visionTargeting) {
                     visionTargeting = false;
                     limelight.setCameraMode(CameraMode.Driver);
                 }
 
                 visionEnabled = !visionEnabled;
-            });
+            }); */
 
         joysticks.intake
             .whileActiveOnce(