Added switch case for the variables in behaviour.cpp, and fixwed buil…

…d errors. Has not been tested on robot.
prawny-boy · Feb 24, 2024 · 304e709 · 304e709
1 parent 7992cc3
commit 304e709
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Showing 3 changed files with 8 additions and 12 deletions.
diff --git a/src/main/cpp/Intake.cpp b/src/main/cpp/Intake.cpp
@@ -163,7 +163,7 @@ void Intake::OnUpdate(units::second_t dt) {
 void Intake::SetState(IntakeState state) {
   _state = state;
 }
-void Intake::SetBehaviourState(IntakeState behaviourState) {
+void Intake::SetBehaviourState(IntakeBehaviourState behaviourState) {
   _behaviourState = behaviourState;
 }
 void Intake::SetRaw(units::volt_t voltage) {

diff --git a/src/main/cpp/IntakeBehaviour.cpp b/src/main/cpp/IntakeBehaviour.cpp
@@ -14,15 +14,15 @@ void IntakeManualControl::OnTick(units::second_t dt) {
 
   if (_codriver.GetBButtonReleased()) {
     if (_rawControl) {
-      _intake->SetState(IntakeBehaviourState::kIdleing);
+      _intake->SetBehaviourState(IntakeBehaviourState::kIdleing);
       _intake->SetState(IntakeState::kIdle);
     } else {
-      _intake->SetState(IntakeBehaviourState::kRawControl);
+      _intake->SetBehaviourState(IntakeBehaviourState::kRawControl);
       _intake->SetState(IntakeState::kRaw);
     }
   } 
 
-  if (_intake->GetState() == IntakeBehaviourState::kRawControl) {
+  if (_intake->GetBehaviourState() == IntakeBehaviourState::kRawControl) {
     if (_codriver.GetLeftTriggerAxis() > 0.1) {
       _intake->SetRaw(_codriver.GetRightTriggerAxis() * 10_V);
     } else if (_codriver.GetRightTriggerAxis() > 0.1) {
@@ -34,20 +34,20 @@ void IntakeManualControl::OnTick(units::second_t dt) {
 
   } else {
     if (_codriver.GetRightTriggerAxis() > 0.1) {
-      if (_intake->GetState() == IntakeBehaviourState::kIntaking) {
+      if (_intake->GetBehaviourState() == IntakeBehaviourState::kIntaking) {
         _intake->SetBehaviourState(IntakeBehaviourState::kIdleing);
         _intake->SetState(IntakeState::kIdle);
       } else {
-        _intake->SetBehaviourState(IntakeBehaviourState::kIntaking)
+        _intake->SetBehaviourState(IntakeBehaviourState::kIntaking);
       }
     }
 
     if (_codriver.GetLeftTriggerAxis() > 0.1) {
-      if (_intake->GetState() == IntakeBehaviourState::kEjecting) {
+      if (_intake->GetBehaviourState() == IntakeBehaviourState::kEjecting) {
         _intake->SetBehaviourState(IntakeBehaviourState::kIdleing);
         _intake->SetState(IntakeState::kIdle);
       } else {
-        _intake->SetBehaviourState(IntakeBehaviourState::kEjecting)
+        _intake->SetBehaviourState(IntakeBehaviourState::kEjecting);
       }
     }
 

diff --git a/src/main/include/IntakeBehaviour.h b/src/main/include/IntakeBehaviour.h
@@ -9,22 +9,18 @@
 #include "Intake.h"
 #include "Wombat.h"
 
-enum class IntakeBehaviourState { kIntaking, kPassing, kEjecting, kIdleing};
 
 class IntakeManualControl : public behaviour::Behaviour {
  public:
   explicit IntakeManualControl(Intake* intake, frc::XboxController& codriver);
 
   void SetBehaviourState(IntakeBehaviourState behaviourState);
   void OnTick(units::second_t dt) override;
-  IntakeBehaviourState GetBehaviourState();
 
  private:
   Intake* _intake;
   frc::XboxController& _codriver;
 
-  IntakeBehaviourState _behaviourState = IntakeBehaviourState::kIdleing;
-
   units::volt_t _rawVoltage;
   units::volt_t _setVoltage;
   bool _rawControl = true;