Disable commands #131
Disable commands #131
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Qodana Community for JVM238 new problems were found
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| @@ -88,6 +89,11 @@ class Extender(private val io: ExtenderIO) : SubsystemBase() { | |||
| .onTrue(setPosition { setpoint }) | |||
| } | |||
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| fun disableCommand(): Command = | |||
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I think it's better to do this as a trigger. Then you won't need the until()
| fun Subsystem.setDisableCommand(command: Command) { | ||
| val isDisabled = Trigger { DriverStation.isDisabled() }.whileTrue(command) |
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Nice!
You should add an optional delay time for the drivetrain (which is missing a disable command). Note also WPILib has a built-in trigger for disable you should use.
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I'll debounce the trigger
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I didn't find the WPILib disable trigger
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https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/button/RobotModeTriggers.html
You can also find that in Galaxia5987/Recode2024#43 (which should also be implemented).
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