Started transitions between states

FRCTeam3044 · Jan 20, 2025 · e7f6f92 · e7f6f92
1 parent 6b676db
commit e7f6f92
Showing 1 changed file with 21 additions and 3 deletions.
diff --git a/src/main/java/frc/robot/statemachine/StateMachine.java b/src/main/java/frc/robot/statemachine/StateMachine.java
@@ -65,9 +65,6 @@ public StateMachine(CommandXboxController driverController, CommandXboxControlle
                                 .withChild(goToIntake)
                                 .withChild(intakeGamePiece);
 
-                // Example, will be button board later
-                manual.withTransition(scoreGamePiece, () -> false, "Example");
-
                 // Children inside children
                 goToScoringPosition.withChild(goToScoreCoral)
                                 .withChild(goToScoreAlgae);
@@ -88,6 +85,27 @@ public StateMachine(CommandXboxController driverController, CommandXboxControlle
                 scoreAlgae.withChild(scoreAlgaeNet)
                                 .withChild(scoreAlgaeProcessor);
 
+                // Example, will be button board later
+                manual.withTransition(goToScoringPosition, () -> false, "Driver presses score")
+                                .withTransition(goToIntake, () -> false, "Driver presses intake");
+
+                goToScoringPosition.withTransition(scoreGamePiece, () -> false, "Close to scoring location")
+                                .withTransition(manual, () -> false, "Score button released");
+
+                scoreGamePiece.withTransition(goToScoringPosition, () -> false, "Scoring location changed")
+                                .withTransition(manual, () -> false, "Score button released")
+                                .withTransition(manual, () -> false, "No game piece in robot");
+
+                goToIntake.withTransition(intakeGamePiece, () -> false, "Close to intake location")
+                                .withTransition(manual, () -> false, "Intake button released");
+
+                intakeGamePiece.withTransition(goToIntake, () -> false, "Intake location changed")
+                                .withTransition(manual, () -> false, "Intake button released");
+
+                intakeCoral.withTransition(manual, () -> false, "Has coral");
+
+                intakeAlgae.withTransition(manual, () -> false, "Has algae");
+
                 // Auto
                 auto.withModeTransitions(disabled, teleop, auto, test);