Disable rumble

redshiftrobotics · Apr 3, 2024 · a12c7d6 · a12c7d6
1 parent 64e254c
commit a12c7d6
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Showing 2 changed files with 9 additions and 3 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -106,6 +106,8 @@ public static class DriverConstants {
 		// max angular velocity for drivetrain, in radians per second
 		public static final double[] maxSpeedOptionsRotation = { 0.25 * MAX_ROTATION_SPEED, 0.5 * MAX_SPEED,
 				0.85 * MAX_SPEED, MAX_SPEED };
+
+		public static final boolean ENABLE_RUMBLE = false;
 	}
 
 	public static class ArmConstants {

diff --git a/src/main/java/frc/robot/commands/Autos.java b/src/main/java/frc/robot/commands/Autos.java
@@ -14,6 +14,7 @@
 import edu.wpi.first.wpilibj2.command.WaitCommand;
 import frc.robot.Constants;
 import frc.robot.Constants.ArmConstants;
+import frc.robot.Constants.DriverConstants;
 import frc.robot.Constants.IntakeShooterConstants;
 import frc.robot.RobotContainer;
 import frc.robot.subsystems.SwerveDrivetrain;
@@ -182,9 +183,12 @@ public static Command shootInSpeaker(SwerveDrivetrain drivetrain, Arm arm, Intak
 				new SpinFlywheelShooter(shooter, 0),
 				new SpinIntakeGrabbers(shooter, 0),
 				new ArmRotateTo(arm, ArmConstants.ARM_STOW_2_DEGREES)),
-				new SetControllerRumbleFor(robotContainer.driverXboxRaw, 3, 1),
-				new SetControllerRumbleFor(robotContainer.operatorXboxRaw, 3, 1))
-				.onlyIf(shouldRunSupplier);
+				DriverConstants.ENABLE_RUMBLE ? new SetControllerRumbleFor(robotContainer.driverXboxRaw, 3, 1)
+						: Commands.sequence(),
+				DriverConstants.ENABLE_RUMBLE ? new SetControllerRumbleFor(robotContainer.operatorXboxRaw, 3, 1)
+						: Commands.sequence()
+		// if rumble isn't enabled pass an empty sequence instead
+		).onlyIf(shouldRunSupplier);
 	}
 
 	public static Command intakeFromFloorStart(Arm arm, IntakeShooter shooter) {