FairportRobotics
/
Castor2026
mirror of https://github.com/FairportRobotics/Castor2026.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

This commit is contained in:
TheRealGreydon 2026-10-15 20:35:01 -04:00
parent 97b26ce8f6
commit 4d70146076
2 changed files with 3 additions and 23 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
src/main/java/frc/robot/RobotContainer.java
View File

@ -79,17 +79,8 @@ 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.povDown().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_STORED_ANGLE));
// m_driverController.povLeft().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_SET_ANGLE1));
// m_driverController.povRight().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_SET_ANGLE3));
// m_driverController.povUp().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_SET_ANGLE2));
//m_driverController.back().whileTrue(new AutoShootCommandChassisTurretPathPlanner(driveSubsystem, hopperSubsystem, turretSubsystem));
m_driverController.rightBumper().onTrue(Commands.parallel(intakeSubsystem.intake(m_driverController.getHID()))); m_driverController.rightBumper().onTrue(Commands.parallel(intakeSubsystem.intake(m_driverController.getHID())));
m_driverController.start().whileTrue(intakeSubsystem.resetDeploy()); m_driverController.start().whileTrue(intakeSubsystem.resetDeploy());
// m_driverController.a().whileTrue((new AutoTurretShootCommand(hopperSubsystem, turretSubsystem, intakeSubsystem, driveSubsystem)));
// m_driverController.x().whileTrue((new AutoTurretShootCommand(hopperSubsystem, turretSubsystem, intakeSubsystem, driveSubsystem)));
//m_driverController.x().toggleOnTrue(getAutonomousCommand())((new UltraShooterCommand(hopperSubsystem, turretSubsystem, intakeSubsystem, driveSubsystem)));
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()));
m_driverController.y().onTrue(intakeSubsystem.deploy()); m_driverController.y().onTrue(intakeSubsystem.deploy());

17
src/main/java/frc/robot/subsystems/IntakeSubsystem.java
View File

@ -21,10 +21,6 @@ import frc.robot.Constants;
public class IntakeSubsystem extends TestableSubsystem { public class IntakeSubsystem extends TestableSubsystem {
/**
* Creates a new ExampleSubsystem.
*/
private TalonFX intakeMotor; private TalonFX intakeMotor;
private WPI_TalonSRX deployMotor; private WPI_TalonSRX deployMotor;
@ -40,16 +36,9 @@ public class IntakeSubsystem extends TestableSubsystem {
public Command deploy() { public Command deploy() {
return Commands.sequence( return Commands.sequence(
Commands.deadline( Commands.deadline(
Commands.waitSeconds(2), Commands.waitSeconds(2),
this.runOnce( this.runOnce(() -> {deployMotor.set(1);})),this.runOnce(() -> deployMotor.stopMotor()));
() -> {
deployMotor.set(1);
} // Bump this speed up if intake doesn't deploy
)
),
this.runOnce(() -> deployMotor.stopMotor())
);
} }
public Command resetDeploy() { public Command resetDeploy() {