Merge branch 'rizzton' of https://github.com/grt192/GRT2024 into rizzton

grt192 · Apr 11, 2024 · 32027ac · 32027ac
2 parents c71bc06 + 0e1daf5
commit 32027ac
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Showing 2 changed files with 20 additions and 5 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -8,6 +8,7 @@
 import static frc.robot.Constants.VisionConstants.BACK_RIGHT_CAMERA;
 import static frc.robot.Constants.VisionConstants.NOTE_CAMERA;
 
+import java.util.EnumSet;
 import java.util.function.BooleanSupplier;
 
 import com.choreo.lib.ChoreoTrajectory;
@@ -25,6 +26,10 @@
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.util.Units;
 import edu.wpi.first.networktables.GenericEntry;
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableEntry;
+import edu.wpi.first.networktables.NetworkTableEvent;
+import edu.wpi.first.networktables.NetworkTableInstance;
 import edu.wpi.first.util.PixelFormat;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.GenericHID;
@@ -160,15 +165,25 @@ public class RobotContainer {
     private boolean isNoteTrapReady = false;
     private boolean noteInBack = false;
 
+    private NetworkTableInstance ntInstance;
+    private NetworkTable autonTable;
+    private String autonValue;
+    private int autonHandle;
     private String autoName = "A145";
-
-
-
-
     /**
      * The container for the robot. Contains subsystems, OI devices, and commands.
      */
     public RobotContainer() {
+        ntInstance = NetworkTableInstance.getDefault();
+        autonTable = ntInstance.getTable("Auton");
+        // try{
+            autonTable.addListener("Auton", EnumSet.of(NetworkTableEvent.Kind.kValueAll), (table, key, event) -> {
+                this.autonValue = event.valueData.value.getString();
+                System.out.print("New auton value: " + this.autonValue);
+            });
+        // } catch (Exception e) {
+        //     System.out.print(e);
+        // }
         fmsSubsystem = new FieldManagementSubsystem();
         lightBarSubsystem = new LightBarSubsystem();
         superstructureSubsystem = new SuperstructureSubsystem(lightBarSubsystem, fmsSubsystem);

diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterPivotSubsystem.java b/src/main/java/frc/robot/subsystems/shooter/ShooterPivotSubsystem.java
@@ -128,7 +128,7 @@ public ShooterPivotSubsystem(DoubleSupplier distanceSupplier, BooleanSupplier re
 
         ntInstance = NetworkTableInstance.getDefault();
         motorsTable = ntInstance.getTable("Motors");
-        shooter12CurrentEntry = motorsTable.getEntry("Shooter12CurrentEntry");
+        shooter12CurrentEntry = motorsTable.getEntry("Shooter12Current");
         shooter12VoltageEntry = motorsTable.getEntry("Shooter12Voltage");
         shooter12TemperatureEntry = motorsTable.getEntry("Shooter12Temperature");
     }