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resolve merge conflicts
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@jordanjcoderman
jordanjcoderman committed Feb 11, 2024
1 parent 44c775c commit 64ae0f2
Showing 1 changed file with 24 additions and 24 deletions.
48 changes: 24 additions & 24 deletions src/main/java/frc/robot/robot_manager/RobotManager.java
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Original file line number Diff line number Diff line change
Expand Up @@ -385,72 +385,72 @@ public void robotPeriodic() {
case UNHOMED:
wrist.startPreMatchHoming();
intake.setState(IntakeState.IDLE);
shooter.setMode(ShooterMode.IDLE);
shooter.setGoalMode(ShooterMode.IDLE);
break;
case HOMING:
wrist.startMidMatchHoming();
intake.setState(IntakeState.IDLE);
shooter.setMode(ShooterMode.IDLE);
shooter.setGoalMode(ShooterMode.IDLE);
break;
case IDLE_UP_NO_GP:
wrist.setAngle(WristPositions.STOWED_UP);
intake.setState(IntakeState.IDLE);
shooter.setMode(ShooterMode.IDLE);
shooter.setGoalMode(ShooterMode.IDLE);
climber.setGoal(ClimberMode.IDLE);
break;
case IDLE_UP_WITH_GP:
wrist.setAngle(WristPositions.STOWED_UP);
intake.setState(IntakeState.IDLE);
shooter.setMode(ShooterMode.IDLE);
shooter.setGoalMode(ShooterMode.IDLE);
climber.setGoal(ClimberMode.IDLE);
break;
case IDLE_DOWN_NO_GP:
wrist.setAngle(WristPositions.STOWED_DOWN);
intake.setState(IntakeState.IDLE);
shooter.setMode(ShooterMode.IDLE);
shooter.setGoalMode(ShooterMode.IDLE);
climber.setGoal(ClimberMode.IDLE);
break;
case IDLE_DOWN_WITH_GP:
wrist.setAngle(WristPositions.STOWED_DOWN);
intake.setState(IntakeState.IDLE);
shooter.setMode(ShooterMode.IDLE);
shooter.setGoalMode(ShooterMode.IDLE);
climber.setGoal(ClimberMode.IDLE);
break;
case GROUND_INTAKING:
wrist.setAngle(WristPositions.GROUND_INTAKING);
intake.setState(IntakeState.INTAKING);
shooter.setMode(ShooterMode.INTAKE);
shooter.setGoalMode(ShooterMode.INTAKING);
climber.setGoal(ClimberMode.IDLE);
break;
case GROUND_INTAKING_SETTLING:
wrist.setAngle(WristPositions.STOWED_DOWN);
intake.setState(IntakeState.INTAKING);
shooter.setMode(ShooterMode.INTAKE);
shooter.setGoalMode(ShooterMode.INTAKING);
climber.setGoal(ClimberMode.IDLE);
break;
case SOURCE_INTAKING:
wrist.setAngle(WristPositions.SOURCE_INTAKING);
intake.setState(IntakeState.INTAKING);
shooter.setMode(ShooterMode.INTAKE);
shooter.setGoalMode(ShooterMode.INTAKING);
climber.setGoal(ClimberMode.IDLE);
break;
case SOURCE_INTAKING_SETTLING:
wrist.setAngle(WristPositions.STOWED_UP);
intake.setState(IntakeState.INTAKING);
shooter.setMode(ShooterMode.INTAKE);
shooter.setGoalMode(ShooterMode.INTAKING);
climber.setGoal(ClimberMode.IDLE);
break;
case OUTTAKING:
wrist.setAngle(WristPositions.OUTTAKING);
intake.setState(IntakeState.OUTTAKING);
shooter.setMode(ShooterMode.IDLE);
shooter.setGoalMode(ShooterMode.IDLE);
climber.setGoal(ClimberMode.IDLE);
break;
case WAITING_FLOOR_SHOT:
case PREPARE_FLOOR_SHOT:
wrist.setAngle(wristAngleForFloorSpot);
intake.setState(IntakeState.IDLE);
shooter.setMode(ShooterMode.FLOOR_SHOT);
shooter.setGoalMode(ShooterMode.FLOOR_SHOT);
climber.setGoal(ClimberMode.IDLE);
snaps.setAngle(robotAngleToFloorSpot);
snaps.setEnabled(true);
Expand All @@ -459,7 +459,7 @@ public void robotPeriodic() {
case FLOOR_SHOOT:
wrist.setAngle(wristAngleForFloorSpot);
intake.setState(IntakeState.PASS_TO_QUEUER);
shooter.setMode(ShooterMode.FLOOR_SHOT);
shooter.setGoalMode(ShooterMode.FLOOR_SHOT);
climber.setGoal(ClimberMode.IDLE);
snaps.setAngle(robotAngleToFloorSpot);
snaps.setEnabled(true);
Expand All @@ -469,20 +469,20 @@ public void robotPeriodic() {
case PREPARE_SUBWOOFER_SHOT:
wrist.setAngle(WristPositions.SUBWOOFER_SHOT);
intake.setState(IntakeState.IDLE);
shooter.setMode(ShooterMode.SUBWOOFER_SHOT);
shooter.setGoalMode(ShooterMode.SUBWOOFER_SHOT);
climber.setGoal(ClimberMode.IDLE);
break;
case SUBWOOFER_SHOOT:
wrist.setAngle(WristPositions.SUBWOOFER_SHOT);
intake.setState(IntakeState.PASS_TO_QUEUER);
shooter.setMode(ShooterMode.SUBWOOFER_SHOT);
shooter.setGoalMode(ShooterMode.SUBWOOFER_SHOT);
climber.setGoal(ClimberMode.IDLE);
break;
case WAITING_SPEAKER_SHOT:
case PREPARE_SPEAKER_SHOT:
wrist.setAngle(wristAngleForSpeaker);
intake.setState(IntakeState.IDLE);
shooter.setMode(ShooterMode.SPEAKER_SHOT);
shooter.setGoalMode(ShooterMode.SPEAKER_SHOT);
climber.setGoal(ClimberMode.IDLE);
snaps.setAngle(robotAngleToSpeaker);
snaps.setEnabled(true);
Expand All @@ -491,7 +491,7 @@ public void robotPeriodic() {
case SPEAKER_SHOOT:
wrist.setAngle(wristAngleForSpeaker);
intake.setState(IntakeState.PASS_TO_QUEUER);
shooter.setMode(ShooterMode.SPEAKER_SHOT);
shooter.setGoalMode(ShooterMode.SPEAKER_SHOT);
climber.setGoal(ClimberMode.IDLE);
snaps.setAngle(robotAngleToSpeaker);
snaps.setEnabled(true);
Expand All @@ -501,44 +501,44 @@ public void robotPeriodic() {
case PREPARE_AMP_SHOT:
wrist.setAngle(WristPositions.AMP_SHOT);
intake.setState(IntakeState.IDLE);
shooter.setMode(ShooterMode.AMP_SHOT);
shooter.setGoalMode(ShooterMode.IDLE);
climber.setGoal(ClimberMode.IDLE);
break;
case AMP_SHOOT:
wrist.setAngle(WristPositions.AMP_SHOT);
intake.setState(IntakeState.PASS_TO_CONVEYOR);
shooter.setMode(ShooterMode.AMP_SHOT);
shooter.setGoalMode(ShooterMode.IDLE);
climber.setGoal(ClimberMode.IDLE);
break;
case WAITING_CLIMBER_RAISED:
wrist.setAngle(WristPositions.WAITING_CLIMBER_RAISED);
intake.setState(IntakeState.IDLE);
shooter.setMode(ShooterMode.IDLE);
shooter.setGoalMode(ShooterMode.IDLE);
climber.setGoal(ClimberMode.RAISED);
break;
case PREPARE_CLIMBER_RAISED:
case CLIMBER_RAISED:
wrist.setAngle(WristPositions.TRAP_SHOT);
intake.setState(IntakeState.IDLE);
shooter.setMode(ShooterMode.IDLE);
shooter.setGoalMode(ShooterMode.IDLE);
climber.setGoal(ClimberMode.RAISED);
break;
case PREPARE_CLIMBER_HANGING:
wrist.setAngle(WristPositions.TRAP_SHOT);
intake.setState(IntakeState.IDLE);
shooter.setMode(ShooterMode.IDLE);
shooter.setGoalMode(ShooterMode.IDLE);
climber.setGoal(ClimberMode.HANGING);
break;
case CLIMBER_HANGING:
wrist.setAngle(WristPositions.TRAP_SHOT);
intake.setState(IntakeState.IDLE);
shooter.setMode(ShooterMode.IDLE);
shooter.setGoalMode(ShooterMode.IDLE);
climber.setGoal(ClimberMode.HANGING);
break;
case TRAP_SHOOT:
wrist.setAngle(WristPositions.TRAP_SHOT);
intake.setState(IntakeState.PASS_TO_CONVEYOR);
shooter.setMode(ShooterMode.IDLE);
shooter.setGoalMode(ShooterMode.IDLE);
climber.setGoal(ClimberMode.HANGING);
break;
default:
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