[x] Code is complete, and naming of variables, methods and classes are readable by non-coder humans.
[x] This code change has been tested and validated working as expected.
[ ] This code change has been reflected in robot documentation in the docs folder.
[x] The questions below have all been answered.
[x] The title of this PR has been updated to describe the change made, for example, [Subsystem or Command Name] Short description of change.
[x] Assignees (usually yourself) have been assigned in the "Assignees" section to the right.
[x] Relevant reviewers have been assigned under the "Reviewers" section at the right.
What is changing and why?
This PR adds a new conditional command EndgameOnlyDeployButterflyWheels that conditionally deploys the butterfly wheels only if the endgame mode robot state variable is set to InEndgame. It also adds a convenience method to RobotState which is used as a supplier for the conditional command, and updates the button mapping in RobotContainer to use the new command.
How was this tested?
This has not yet been tested on the robot.
Is there anything the reviewer of this PR needs to know to validate that this code is correct?
What do your team members need to know about this?
Related Issues and PRs
Issue:
Related PRs:
Checklist
docsfolder.[Subsystem or Command Name] Short description of change.What is changing and why?
This PR adds a new conditional command
EndgameOnlyDeployButterflyWheelsthat conditionally deploys the butterfly wheels only if the endgame mode robot state variable is set toInEndgame. It also adds a convenience method toRobotStatewhich is used as a supplier for the conditional command, and updates the button mapping inRobotContainerto use the new command.How was this tested?
This has not yet been tested on the robot.
Is there anything the reviewer of this PR needs to know to validate that this code is correct?
What do your team members need to know about this?