Alpha State Machine #5
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I'm marking this as ready for review bc i'm not sure how done it needs to be. No mech-specific code in here, but the infrastructure for binding commands to states, and all the transitions are implemented. The button bindings are implemented but are just placeholders. |
spellingcat
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spellingcat
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see the new graph i posted on #software in slack which i think simplifies things enough for the alpha
| private void addTransitions() { | ||
| bindTransition(SuperState.IDLE, SuperState.INTAKE, intakeReq); | ||
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| bindTransition(SuperState.INTAKE, SuperState.READY, intakeReq.negate().or(isFull)); |
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add path from intake back to idle if it's empty and intake req is not true
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intake -> ready needs to be when intakereq.negate().and(is not empty)
| bindTransition( | ||
| SuperState.SCORE_FLOW, SuperState.READY, scoreReq.negate().and(isEmpty.negate())); | ||
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| bindTransition(SuperState.SCORE_FLOW, SuperState.SCORE, scoreReq.and(continuousReq.negate())); |
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this is not that important but maybe put the bidirectional transitions next to each other
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| isFull = new Trigger(routing::isFull); | ||
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| isEmpty = new Trigger(routing::isEmpty); |
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i might add an isPartial or something like that for when the second beambreak is true but first is not
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| bindTransition(SuperState.READY, SuperState.INTAKE, intakeReq.and(isFull.negate())); | ||
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| bindTransition(SuperState.READY, SuperState.FEED, feedReq.and(continuousReq.negate())); |
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rename continuous to flowreq
| .and(DriverStation::isTeleop) | ||
| .or(Autos.autoFeedReq); | ||
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| continuousReq = |
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yknow, i might actually get rid of continuous req as a separate button and just do like (intake req and score req) in place of continous req
Still WIP