Add mode manager for easy toggle between competition and demo #58
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luanzeba
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Oct 27, 2024
| @@ -208,7 +209,7 @@ public static final class ElevatorConstants { | |||
| public static final double MAX_HEIGHT_METERS = Units.inchesToMeters(17); | |||
| public static final double STARTING_HEIGHT_METERS = Units.inchesToMeters(2); | |||
| public static final boolean SIMULATE_GRAVITY = true; | |||
| public static final int ELEVATOR_CURRENT_LIMIT = 30; | |||
| public static final int ELEVATOR_CURRENT_LIMIT = Robot.modeManager.getMode() == RobotMode.DEMO ? 15 : 30; | |||
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This is something we were playing with to apply demo mode to the elevator acceleration but haven't tested yet. We're also not sure this is the best place to apply this logic
Robo5399
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tested on hardware 10/30 |
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Adds a Robot mode manager to easily switch between demo and competition mode.
That mode should be accessible throughout the Robot code to define speeds, acceleration and other factors to make it safer to operate during demos.
This also makes the Robot mode setter accessible from the Elastic dashboard.
We've tested this code on the robot last Tuesday.