From 5b1923eebd715110d82684032b86b52341d6027d Mon Sep 17 00:00:00 2001 From: Team578 Driver Station Date: Sat, 18 Apr 2026 08:46:40 -0400 Subject: [PATCH] Stopper --- src/main/java/frc/robot/RobotContainer.java | 6 ++---- src/main/java/frc/robot/subsystems/TurretSubsystem.java | 2 +- 2 files changed, 3 insertions(+), 5 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index b459ee4..1c92754 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -82,11 +82,9 @@ public class RobotContainer { //m_driverController.back().whileTrue(new AutoShootCommandChassisTurretPathPlanner(driveSubsystem, hopperSubsystem, turretSubsystem)); m_driverController.leftBumper().onTrue(Commands.runOnce(() -> turretSubsystem.homeTurret(), turretSubsystem)); m_driverController.rightBumper().onTrue(Commands.parallel(intakeSubsystem.intake(m_driverController.getHID()))); - //m_driverController.a().whileTrue(new RelayCommand(hopperSubsystem, turretSubsystem, intakeSubsystem)); m_driverController.start().whileTrue(intakeSubsystem.resetDeploy()); - // m_driverController.x().toggleOnTrue(new AutoShootCommandChassisTurret(driveSubsystem, hopperSubsystem, turretSubsystem)); - m_driverController.a().whileTrue(new AutoTurretShootCommand(hopperSubsystem, turretSubsystem, intakeSubsystem, driveSubsystem)); - m_driverController.x().whileTrue(new AutoTurretShootCommand(hopperSubsystem, turretSubsystem, intakeSubsystem, driveSubsystem)); + m_driverController.a().whileTrue(Commands.parallel(new AutoTurretShootCommand(hopperSubsystem, turretSubsystem, intakeSubsystem, driveSubsystem), intakeSubsystem.stopIntake(m_driverController.getHID()))); + m_driverController.x().whileTrue(Commands.parallel(new AutoTurretShootCommand(hopperSubsystem, turretSubsystem, intakeSubsystem, driveSubsystem), intakeSubsystem.stopIntake(m_driverController.getHID()))); m_driverController.b().whileTrue(new Reverse(intakeSubsystem, hopperSubsystem, m_driverController.getHID())); m_driverController.y().onTrue(intakeSubsystem.deploy()); } diff --git a/src/main/java/frc/robot/subsystems/TurretSubsystem.java b/src/main/java/frc/robot/subsystems/TurretSubsystem.java index 7ab80f3..e322148 100644 --- a/src/main/java/frc/robot/subsystems/TurretSubsystem.java +++ b/src/main/java/frc/robot/subsystems/TurretSubsystem.java @@ -168,7 +168,7 @@ public class TurretSubsystem extends TestableSubsystem { public void homeTurret() { - if(turretState == TurretState.HOMING){ + if(turretState != TurretState.INIT){ return; } turretMotor.set(Constants.ShooterConstants.HOMING_SPEED);