Presentation mode

build.gradle

@@ -1,5 +1,5 @@
 plugins {
-    id "org.rivierarobotics.frcgrantle" version "0.1.8"
+    id "org.rivierarobotics.frcgrantle" version "0.1.10"
 }
 grantle.with {
     packageBase = 'org.rivierarobotics.robot'

src/org/rivierarobotics/commands/DisableAllSubsystems.java

@@ -0,0 +1,41 @@
+package org.rivierarobotics.commands;
+
+import org.rivierarobotics.robot.Robot;
+import org.rivierarobotics.subsystems.Arm;
+import org.rivierarobotics.subsystems.Clamp;
+import org.rivierarobotics.subsystems.DriveTrain;
+import org.rivierarobotics.subsystems.Floppies;
+
+import edu.wpi.first.wpilibj.command.Command;
+
+public class DisableAllSubsystems extends Command {
+
+	private final DriveTrain dt = Robot.runningRobot.driveTrain;
+	private final Arm arm = Robot.runningRobot.arm;
+	private final Clamp clamp = Robot.runningRobot.clamp;
+	private final Floppies floppies = Robot.runningRobot.floppies;
+	private final boolean open = clamp.isOpen();
+
+	public DisableAllSubsystems() {
+		requires(dt);
+		requires(arm);
+		requires(clamp);
+		requires(floppies);
+		setInterruptible(false);
+	}
+
+	@Override
+	protected void execute() {
+		dt.setPowerLeftRight(0, 0);
+		arm.setPower(0);
+		clamp.setOpen(open);
+		clamp.setPuncher(false);
+		floppies.setPower(0, 0);
+	}
+
+	@Override
+	protected boolean isFinished() {
+		return false;
+	}
+
+}

src/org/rivierarobotics/constants/ControlMap.java

@@ -55,4 +55,6 @@ public class ControlMap {
     public static final int FORCE_COMPRESSOR_ON_BUTTON = 2;
 
     public static final int AUTO_PUNCH_BUTTON = 2;
+
+	public static final int DEAD_MAN_BUTTON = 1;
 }

src/org/rivierarobotics/constants/PresentationMode.java

@@ -0,0 +1,11 @@
+package org.rivierarobotics.constants;
+
+import edu.wpi.first.wpilibj.Preferences;
+
+public class PresentationMode {
+
+	public static boolean inPresentationMode() {
+		return Preferences.getInstance().getBoolean("presentation-mode", false);
+	}
+
+}

src/org/rivierarobotics/driverinterface/Driver.java

@@ -4,6 +4,7 @@
 import org.rivierarobotics.commands.AutoThrow;
 import org.rivierarobotics.commands.CollectGrabRaise;
 import org.rivierarobotics.commands.CompressorControlCommand;
+import org.rivierarobotics.commands.DisableAllSubsystems;
 import org.rivierarobotics.commands.LeaveClimbCommand;
 import org.rivierarobotics.commands.MagicSpin;
 import org.rivierarobotics.commands.SetArmAngleGainScheduled;
@@ -32,6 +33,8 @@ public class Driver {
     public Joystick JS_LEFT_BUTTONS;
     public Joystick JS_RIGHT_BUTTONS;
     public DriveCalculator DRIVE_CALC;
+
+    private DisableAllSubsystems robotStopper;
 
     public Driver() {
         // Instantiate Sticks
@@ -65,6 +68,8 @@ public Driver() {
 
         JoystickButton autoCollectButton = new JoystickButton(JS_FLOPPIES, ControlMap.COLLECT_SEQUENCE_BUTTON);
         JoystickButton autoPunch = new JoystickButton(JS_FLOPPIES, ControlMap.AUTO_PUNCH_BUTTON);
+
+        JoystickButton deadManButton = new JoystickButton(JS_RIGHT_BUTTONS, ControlMap.DEAD_MAN_BUTTON);
 
 
         // Bind Commands
@@ -82,14 +87,20 @@ public Driver() {
         shiftHigh.whenPressed(new ShiftGear(DriveTrain.DriveGear.GEAR_HIGH));
         //autoCollectButton.whenPressed(new CollectGrabRaise(true));
 
+        // remove climb for adams school
+        /*
         removeArmLimitButton.whenPressed(new RemoveArmLimit(JS_ARM));//engage PTO + disengage arm
         startWinchingButton.whenPressed(new StartWinching(JS_ARM));
         reengageArmButton.whenPressed(new SetArmEngagedAndPTODisengaged(true));//reengage + lower arm, winching at same time
         disengageArmButton.whenPressed(new SetArmEngagedAndPTODisengaged(false));//disengage arm when it hits bottom
         lockWinchButton.whenPressed(new SetArmBrake(true));//lock robot in place after climb   
         unlockWinchButton.whenPressed(new SetArmBrake(false));//for the pits
         leaveClimbButton.whenPressed(new LeaveClimbCommand());//for crisis mode
-
+        */
         autoPunch.whenPressed(new AutoPunch(-0.2));
+
+        robotStopper = new DisableAllSubsystems();
+        deadManButton.whenReleased(robotStopper);
+        deadManButton.cancelWhenPressed(robotStopper);
     }
 }