only allow task abortion incase of stall during auto

Team846 · Mar 8, 2018 · 8bcb19c · 8bcb19c
1 parent 9754b85
commit 8bcb19c
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diff --git a/shared/src/main/scala/com/lynbrookrobotics/eighteen/drivetrain/DrivetrainComponent.scala b/shared/src/main/scala/com/lynbrookrobotics/eighteen/drivetrain/DrivetrainComponent.scala
@@ -8,6 +8,7 @@ import com.lynbrookrobotics.potassium.control.offload.OffloadedSignal
 import com.lynbrookrobotics.potassium.streams.Stream
 import com.lynbrookrobotics.potassium.tasks.Task
 import com.lynbrookrobotics.potassium.{Component, Signal}
+import edu.wpi.first.wpilibj.RobotState
 import squants.time.Seconds
 import squants.{Each, Percent}
 
@@ -57,6 +58,7 @@ class DrivetrainComponent(coreTicks: Stream[Unit])(
       },
       props.get.deltaVelocityStallThreshold
     )
+    .filter(_ => RobotState.isAutonomous)
     .filter(_ > props.get.stallTimeout)
     .foreach { time =>
       println(s"[ERROR] LEFT SIDE OF DRIVETRAIN STALLED FOR $time. ABORTING TASK.")
@@ -70,6 +72,7 @@ class DrivetrainComponent(coreTicks: Stream[Unit])(
       },
       props.get.deltaVelocityStallThreshold
     )
+    .filter(_ => RobotState.isAutonomous)
     .filter(_ > props.get.stallTimeout)
     .foreach { time =>
       println(s"[ERROR] RIGHT SIDE OF DRIVETRAIN STALLED FOR $time. ABORTING TASK.")

diff --git a/shared/src/main/scala/com/lynbrookrobotics/eighteen/lift/CubeLiftComp.scala b/shared/src/main/scala/com/lynbrookrobotics/eighteen/lift/CubeLiftComp.scala
@@ -6,6 +6,7 @@ import com.lynbrookrobotics.potassium.control.offload.OffloadedSignal.OpenLoop
 import com.lynbrookrobotics.potassium.streams.Stream
 import com.lynbrookrobotics.potassium.tasks.Task
 import com.lynbrookrobotics.potassium.{Component, Signal}
+import edu.wpi.first.wpilibj.RobotState
 import squants.electro.Volts
 import squants.{Each, Percent}
 
@@ -23,6 +24,7 @@ class CubeLiftComp(val coreTicks: Stream[Unit])(implicit hardware: CubeLiftHardw
       hardware.currentDraw,
       props.get.maxCurrentDraw
     )
+    .filter(_ => RobotState.isAutonomous)
     .filter(_ > props.get.stallTimeout)
     .foreach { stallTime =>
       println(s"[ERROR] CUBE LIFT STALLED FOR $stallTime. ABORTING TASK.")