Add a chooser to set drive mode #268
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I updated the non-sim modes so they all invert the joysticks consistently. Also changed closedAbsoluteDriveAdv command to use POV for direct angles since it was trying to use ABXY for two functions at the same time. All four options should now move forward with joystick forward using Blue origin. Sim commands weren't touched and aren't in the chooser. |
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I'm going to close this PR since things are changing and it's out of date. May bring back some version in the future if there is interest. |
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A SendableChooser is added to the RobotContainer that allows the drive mode command to be selected from a dashboard at runtime. The setDriveMode function is called in testInit and teleopInit so the chooser is checked and the default drive command is updated when the robot is enabled in either mode. This chooser is intended as a convenient way to try out different drive modes in YAGSL for testing, training and swerve familiarization and isn't intended for comp software.