Create AllignAssist Command (INCOMPLETE)

Author: DriverStationComputer

Robot2019/src/main/java/frc/robot/Robot.java

@@ -60,6 +60,7 @@ public void robotInit() {
     SmartDashboard.putNumber("Max Acceleration", dt.getMaxSpeed() / 1.0);
 
     SmartDashboard.putBoolean("Outreach Mode", false);
+    SmartDashboard.putBoolean("Using Limelight", false);
     timey = new Timer();
   }
 

Robot2019/src/main/java/frc/robot/commands/AllignAssist.java

@@ -0,0 +1,63 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc.robot.commands;
+
+import frc.robot.lib.Limelight;
+import frc.robot.subsystems.Drivetrain;
+import edu.wpi.first.wpilibj.command.Command;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+
+public class AllignAssist extends Command {
+  private Drivetrain dt;
+  private Limelight.Mode limelightMode;
+
+  public AllignAssist(Drivetrain dt, Limelight.Mode mode) {
+    this.dt = dt;
+    this.limelightMode = mode;
+  }
+
+  // Called just before this Command runs the first time
+  @Override
+  protected void initialize() {
+  }
+
+  // Called repeatedly when this Command is scheduled to run
+  @Override
+  protected void execute() {
+      if (limelightMode == Limelight.Mode.DIST) {
+
+      }
+      else if (limelightMode == Limelight.Mode.STEER) {
+
+      } else {
+
+      }
+  }
+
+  // Make this return true when this Command no longer needs to run execute()
+  @Override
+  protected boolean isFinished() {
+      if (!SmartDashboard.getBoolean("Use Limelight", false)) {
+        return true;
+      } else {
+        return false;
+      }
+  }
+
+  // Called once after isFinished returns true
+  @Override
+  protected void end() {
+  }
+
+  // Called when another command which requires one or more of the same
+  // subsystems is scheduled to run
+  @Override
+  protected void interrupted() {
+    end();
+  }
+}

Robot2019/src/main/java/frc/robot/commands/ToggleLimelight.java

@@ -0,0 +1,25 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj.command.InstantCommand;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+
+public class ToggleLimelight extends InstantCommand {
+  public ToggleLimelight() {
+  }
+
+  @Override
+  protected void initialize() {
+    if (SmartDashboard.getBoolean("Using Limelight", false)) {
+        SmartDashboard.putBoolean("Using Limelight", true);
+    } else {
+        SmartDashboard.putBoolean("Using Limelight", false);
+    }
+  }
+}

Robot2019/src/main/java/frc/robot/lib/Limelight.java

@@ -12,6 +12,10 @@
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
 public class Limelight {
+  public enum Mode {
+    DIST, STEER, TARGET
+  }
+
   private NetworkTableInstance inst;
   private NetworkTable table;
   private double tv, tx, ty, ta;