merge

Author: Jay9971

include/robot/auton.h

@@ -44,6 +44,9 @@ namespace Robot {
    */
   void AutoDrive(Intake &intake, Latch &latch);
 
+  void AutonSwitcher();
+
+
   /**
    * @brief Switches the autonomous program.
    *

include/robot/drivetrain.h

@@ -39,20 +39,6 @@ class Drivetrain {
    */
   void run();
 
-        /**
-         * @brief Sets the joystick deadzone.
-         * 
-         * @param newDeadZone The new deadzone value.
-         * 
-         * The deadzone is a range around the joystick's resting position where no movement is registered.
-         * This function allows you to set the deadzone value to filter out small joystick movements.
-         * 
-         * @details The deadzone value determines the sensitivity of the joystick inputs.
-         * A higher deadzone value will require larger joystick movements to register any movement in the drivetrain.
-         * Conversely, a lower deadzone value will make the drivetrain more responsive to small joystick movements.
-         */
-        void setdeadzone(int newDeadZone);
-
         enum Mode {
             CURVATURE_DRIVE, 
             ARCADE_DRIVE, 
@@ -80,7 +66,7 @@ class Drivetrain {
          * Arcade drive uses the left joystick for forward and backward movement, and the right joystick for left and right movement.
          * Tank drive uses the left and right joysticks for controlling the left and right sides of the robot.
          */
-        void SwitchDrive();
+        static void SwitchDrive(int driveNum);
 
 
         Mode driveMode; ///< The current drive train mode
@@ -92,6 +78,8 @@ class Drivetrain {
          */
         Drivetrain();
 
+        std::string toggleDrive();
+
  private:
   /**
    * @brief Drives the robot using arcade drive.
@@ -117,4 +105,6 @@ class Drivetrain {
    */
   void TankDrive();
 };
+
+
 }  // namespace Robot

src/subsystems/drivetrain.cpp

@@ -65,23 +65,26 @@ std::string Drivetrain::toggleDrive() {
 }
 
 // Switch the drivetrain control mode between arcade and tank drive with the down button(between 1 and 2)
-std::string Drivetrain::SwitchDrive() {
+std::string Drivetrain::SwitchDrive(int driveNum) {
     if(drivetrainToggleSwitch.get_new_press()) {
 
-        if (Drivetrain::driveMode == TANK_DRIVE) {
+        if (driveNum == 0) {
             Drivetrain::driveMode = CURVATURE_DRIVE;
             std::cout << "Curvature Drive" << std::endl;
             return "Curvature Drive";
         }
-        else if (Drivetrain::driveMode == CURVATURE_DRIVE) {
+        else if (driveNum == 1) {
             Drivetrain::driveMode = ARCADE_DRIVE;
             std::cout << "Arcade Drive" << std::endl;
             return "Arcade Drive";
         }
-        else {
+        else if (driveNum == 2) {
             Drivetrain::driveMode = TANK_DRIVE;
             std::cout << "Tank Drive" << std::endl;
             return "Tank Drive";
+        } else {
+            std::cout << "Error" << std::endl;
+            return "Error";
         }
     }
 }