def handle_shooter_inputs(
self, joystick: wpilib.Joystick, gamepad: wpilib.XboxController
) -> None:
if joystick.getTrigger():
self.shooter_controller.fire_input()
if gamepad.getBackButton() and gamepad.getRawButtonPressed(5):
# Disable turret in case of catastrophic malfunction
# Make this toggle to allow re-enabling turret in case it was accidentally disabled
self.shooter.disabled = not self.shooter.disabled
self.turret.disabled = self.shooter.disabled
def handle_shooter_inputs(self, joystick: wpilib.Joystick,
gamepad: wpilib.XboxController) -> None:
if joystick.getTrigger():
self.shooter_controller.fire_input()
if gamepad.getBackButton() and gamepad.getBumperPressed(
Hand.kLeftHand):
# Disable turret in case of catastrophic malfunction
# Make this toggle to allow re-enabling turret in case it was accidentally disabled
self.shooter.toggle()
self.turret.toggle()
# Hold to stay in manual aiming mode
if gamepad.getXButton():
self.shooter_controller.manual_slew(
rescale_js(gamepad.getX(Hand.kLeftHand), 0.1) *
-self.MANUAL_SLEW_SPEED)
def handle_shooter_inputs(self, joystick: wpilib.Joystick) -> None:
if joystick.getTrigger():
self.shooter_controller.fire_input()