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Castor2026
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This commit is contained in:
Team578 Driver Station 2026-04-18 08:42:15 -04:00
parent ecdde11cd8
commit 40a57eb4cb
3 changed files with 8 additions and 4 deletions
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2
src/main/java/frc/robot/RobotContainer.java
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@ -87,7 +87,7 @@ public class RobotContainer {
// m_driverController.x().toggleOnTrue(new AutoShootCommandChassisTurret(driveSubsystem, hopperSubsystem, turretSubsystem)); // m_driverController.x().toggleOnTrue(new AutoShootCommandChassisTurret(driveSubsystem, hopperSubsystem, turretSubsystem));
m_driverController.a().whileTrue(new AutoTurretShootCommand(hopperSubsystem, turretSubsystem, intakeSubsystem, driveSubsystem)); m_driverController.a().whileTrue(new AutoTurretShootCommand(hopperSubsystem, turretSubsystem, intakeSubsystem, driveSubsystem));
m_driverController.x().whileTrue(new AutoTurretShootCommand(hopperSubsystem, turretSubsystem, intakeSubsystem, driveSubsystem)); m_driverController.x().whileTrue(new AutoTurretShootCommand(hopperSubsystem, turretSubsystem, intakeSubsystem, driveSubsystem));
m_driverController.b().whileTrue(new Reverse(intakeSubsystem, hopperSubsystem)); m_driverController.b().whileTrue(new Reverse(intakeSubsystem, hopperSubsystem, m_driverController.getHID()));
m_driverController.y().onTrue(intakeSubsystem.deploy()); m_driverController.y().onTrue(intakeSubsystem.deploy());
} }

7
src/main/java/frc/robot/commands/Reverse.java
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@ -3,6 +3,7 @@
// the WPILib BSD license file in the root directory of this project. // the WPILib BSD license file in the root directory of this project.
package frc.robot.commands; package frc.robot.commands;
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystems.HopperSubsystem; import frc.robot.subsystems.HopperSubsystem;
import frc.robot.subsystems.IntakeSubsystem; import frc.robot.subsystems.IntakeSubsystem;
@ -14,15 +15,17 @@ public class Reverse extends Command {
private IntakeSubsystem intakeSubsystem; private IntakeSubsystem intakeSubsystem;
private HopperSubsystem hopperSubsystem; private HopperSubsystem hopperSubsystem;
private XboxController m_XboxController;
/** /**
* Creates a new ExampleCommand. * Creates a new ExampleCommand.
* *
* @param subsystem The subsystem used by this command. * @param subsystem The subsystem used by this command.
*/ */
public Reverse(IntakeSubsystem intakeSubsystem, HopperSubsystem hopperSubsystem) { public Reverse(IntakeSubsystem intakeSubsystem, HopperSubsystem hopperSubsystem, XboxController m_XboxController) {
this.intakeSubsystem = intakeSubsystem; this.intakeSubsystem = intakeSubsystem;
this.hopperSubsystem = hopperSubsystem; this.hopperSubsystem = hopperSubsystem;
this.m_XboxController = m_XboxController;
} }
// Called when the command is initially scheduled. // Called when the command is initially scheduled.
@ -43,7 +46,7 @@ public class Reverse extends Command {
public void end(boolean interrupted) { public void end(boolean interrupted) {
hopperSubsystem.stopKicker(); hopperSubsystem.stopKicker();
hopperSubsystem.spindexerOff(); hopperSubsystem.spindexerOff();
intakeSubsystem.stopIntake(); intakeSubsystem.stopIntake(m_XboxController);
} }
// Returns true when the command should end. // Returns true when the command should end.

3
src/main/java/frc/robot/subsystems/IntakeSubsystem.java
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@ -60,9 +60,10 @@ public class IntakeSubsystem extends TestableSubsystem {
intakeMotor.set(speed); intakeMotor.set(speed);
} }
public Command stopIntake() { public Command stopIntake(XboxController m_XboxController) {
return this.runOnce(() -> { return this.runOnce(() -> {
intakeMotor.stopMotor(); intakeMotor.stopMotor();
m_XboxController.setRumble(RumbleType.kBothRumble, .0);
}); });
} }