I am trying to program multiple toggle systems for competition. Our robot is similar to 229V’s robot with the claw and intake. The first toggle uses a callback to lift the intake to the correct angle then when set to false it would use a “score” callback which outtakes the intake to score one ring then slams the claw down, then outside the toggle it sends intake to lift to zero angle and opens the claw.
My question is will i be able to use all the other toggles even if they contradict each other?
void score() {
intake.move(-127);
rightClaw.set_value(true);
leftClaw.set_value(true);
intake.brake();
}
void neutralWallStake() {
targetAngle =55;
}
void allianceWallStake() {
targetAngle = 45;
}
void opcontrol() {
bool neutralWallStakeEnable = false;
bool allianceWallStakeEnable = false;
bool enableRing = false;
bool enableMogoMech = false;
int enableIntake = 0;
while (true) {
int leftY = Controller.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y);
int rightX = Controller.get_analog(pros::E_CONTROLLER_ANALOG_RIGHT_X);
chassis.arcade(leftY, rightX,false,0.75);
if (Controller.get_digital_new_press(pros::E_CONTROLLER_DIGITAL_R1)) {
neutralWallStakeEnable = !neutralWallStakeEnable;
}
if(neutralWallStakeEnable) {
enableFourBarPD = true;
neutralWallStake();
} else {
score();
targetAngle =0;
openClaw.set_value(true);
pros::delay(1000);
openClaw.set_value(false);
rightClaw.set_value(false);
leftClaw.set_value(false);
enableFourBarPD = false;
}
if(Controller.get_digital_new_press(pros::E_CONTROLLER_DIGITAL_R2)) {
allianceWallStakeEnable = !allianceWallStakeEnable;
}
if(allianceWallStakeEnable) {
enableFourBarPD = true;
allianceWallStake();
} else {
score();
targetAngle =0;
openClaw.set_value(true);
pros::delay(1000);
openClaw.set_value(false);
rightClaw.set_value(false);
leftClaw.set_value(false);
enableFourBarPD = false;
}
if(Controller.get_digital_new_press(pros::E_CONTROLLER_DIGITAL_L1)) {
enableIntake++;
}
if (enableIntake > 2) {
enableIntake =0;
}
if(enableIntake ==0) {
intake.brake();
} else if (enableIntake ==1) {
intake.move(127);
} else if (enableIntake ==2) {
intake.move(-127);
}
if(Controller.get_digital_new_press(pros::E_CONTROLLER_DIGITAL_L2)) {
enableRing = !enableRing;
}
if (enableRing) {
openClaw.set_value(true);
rightClaw.set_value(true);
leftClaw.set_value(true);
} else {
openClaw.set_value(false);
rightClaw.set_value(false);
leftClaw.set_value(false);
}
if(Controller.get_digital_new_press(pros::E_CONTROLLER_DIGITAL_RIGHT)) {
enableMogoMech = !enableMogoMech;
}
if (enableMogoMech) {
mogoMech.set_value(true);
} else {
mogoMech.set_value(false);
}
pros::delay(20);
}
}