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Castor2026
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Stopper

This commit is contained in:
Team578 Driver Station 2026-04-18 08:46:40 -04:00
parent 40a57eb4cb
commit 5b1923eebd
2 changed files with 3 additions and 5 deletions
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6
src/main/java/frc/robot/RobotContainer.java
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@ -82,11 +82,9 @@ public class RobotContainer {
//m_driverController.back().whileTrue(new AutoShootCommandChassisTurretPathPlanner(driveSubsystem, hopperSubsystem, turretSubsystem)); //m_driverController.back().whileTrue(new AutoShootCommandChassisTurretPathPlanner(driveSubsystem, hopperSubsystem, turretSubsystem));
m_driverController.leftBumper().onTrue(Commands.runOnce(() -> turretSubsystem.homeTurret(), turretSubsystem)); m_driverController.leftBumper().onTrue(Commands.runOnce(() -> turretSubsystem.homeTurret(), 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.a().whileTrue(new RelayCommand(hopperSubsystem, turretSubsystem, intakeSubsystem));
m_driverController.start().whileTrue(intakeSubsystem.resetDeploy()); m_driverController.start().whileTrue(intakeSubsystem.resetDeploy());
// m_driverController.x().toggleOnTrue(new AutoShootCommandChassisTurret(driveSubsystem, hopperSubsystem, turretSubsystem)); m_driverController.a().whileTrue(Commands.parallel(new AutoTurretShootCommand(hopperSubsystem, turretSubsystem, intakeSubsystem, driveSubsystem), intakeSubsystem.stopIntake(m_driverController.getHID())));
m_driverController.a().whileTrue(new AutoTurretShootCommand(hopperSubsystem, turretSubsystem, intakeSubsystem, driveSubsystem)); m_driverController.x().whileTrue(Commands.parallel(new AutoTurretShootCommand(hopperSubsystem, turretSubsystem, intakeSubsystem, driveSubsystem), intakeSubsystem.stopIntake(m_driverController.getHID())));
m_driverController.x().whileTrue(new AutoTurretShootCommand(hopperSubsystem, turretSubsystem, intakeSubsystem, 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());
} }

2
src/main/java/frc/robot/subsystems/TurretSubsystem.java
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@ -168,7 +168,7 @@ public class TurretSubsystem extends TestableSubsystem {
public void homeTurret() public void homeTurret()
{ {
if(turretState == TurretState.HOMING){ if(turretState != TurretState.INIT){
return; return;
} }
turretMotor.set(Constants.ShooterConstants.HOMING_SPEED); turretMotor.set(Constants.ShooterConstants.HOMING_SPEED);