FairportRobotics
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Castor2026
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This commit is contained in:
TheRealGreydon 2026-10-17 13:54:01 -04:00
parent cb92415ac2
commit 2e2ea2267b
2 changed files with 6 additions and 1 deletions
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2
src/main/java/frc/robot/RobotContainer.java
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@ -82,7 +82,7 @@ public class RobotContainer {
*/ */
private void configureBindings() { private void configureBindings() {
// These let the driver set the shooter hood position using the controller. // These let the driver set the shooter hood position using the controller.
m_driverController.rightBumper().onTrue(Commands.parallel(intakeSubsystem.intake(m_driverController.getHID()))); m_driverController.rightBumper().onTrue(Commands.parallel(intakeSubsystem.intakeNO()));
m_driverController.start().whileTrue(intakeSubsystem.resetDeploy()); m_driverController.start().whileTrue(intakeSubsystem.resetDeploy());
m_driverController.x().toggleOnTrue(new UltraShooterCommand(hopperSubsystem, turretSubsystem, driveSubsystem)); m_driverController.x().toggleOnTrue(new UltraShooterCommand(hopperSubsystem, turretSubsystem, driveSubsystem));
m_driverController.b().whileTrue(new Reverse(intakeSubsystem, hopperSubsystem, m_driverController.getHID())); m_driverController.b().whileTrue(new Reverse(intakeSubsystem, hopperSubsystem, m_driverController.getHID()));

5
src/main/java/frc/robot/subsystems/IntakeSubsystem.java
View File

@ -68,6 +68,11 @@ public class IntakeSubsystem extends TestableSubsystem {
}); });
} }
public Command intakeNO() {
return this.runOnce(() ->
{setSpeed(-.45);});
}
public Command intakeNR() { public Command intakeNR() {
return this.runOnce(() -> return this.runOnce(() ->
{if (intakeMotor.get() == 0) {setSpeed(-.45);} else {intakeMotor.stopMotor();}}); {if (intakeMotor.get() == 0) {setSpeed(-.45);} else {intakeMotor.stopMotor();}});