FairportRobotics
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Castor2026
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This commit is contained in:
TheRealGreydon 2026-10-13 21:35:48 -04:00
parent 119fb954da
commit 850f091148
2 changed files with 3 additions and 3 deletions
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2
src/main/java/frc/robot/RobotContainer.java
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@ -53,6 +53,7 @@ public class RobotContainer {
// turretSubsystem.setDefaultCommand(new AutoTurretCommand(turretSubsystem, driveSubsystem)); // turretSubsystem.setDefaultCommand(new AutoTurretCommand(turretSubsystem, driveSubsystem));
turretSubsystem.homeTurret(); turretSubsystem.homeTurret();
hopperSubsystem.spindexerOn();
// Configure the trigger bindings // Configure the trigger bindings
configureBindings(); configureBindings();
@ -84,7 +85,6 @@ public class RobotContainer {
// m_driverController.povUp().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_SET_ANGLE2)); // m_driverController.povUp().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_SET_ANGLE2));
//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.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.a().whileTrue((new AutoTurretShootCommand(hopperSubsystem, turretSubsystem, intakeSubsystem, driveSubsystem)));

4
src/main/java/frc/robot/commands/UltraShooterCommand.java
View File

@ -46,7 +46,7 @@ public class UltraShooterCommand extends Command{
@Override @Override
public void initialize() { public void initialize() {
hopperSubsystem.spindexerOn(); // Activate spindexer so it's on while command is active //hopperSubsystem.spindexerOn(); // Activate spindexer so it's on while command is active
hopperSubsystem.stopKicker(); // Make sure kicker is off when command is called hopperSubsystem.stopKicker(); // Make sure kicker is off when command is called
CommandScheduler.getInstance().schedule(waitCommand); // Kick off a wait timer so robot doesn't shoot until hopper is ready CommandScheduler.getInstance().schedule(waitCommand); // Kick off a wait timer so robot doesn't shoot until hopper is ready
alliance = DriverStation.getAlliance().get(); // Fetch our alliance alliance = DriverStation.getAlliance().get(); // Fetch our alliance
@ -218,7 +218,7 @@ public class UltraShooterCommand extends Command{
@Override @Override
public void end(boolean interrupted) { public void end(boolean interrupted) {
waitCommand.cancel(); waitCommand.cancel();
hopperSubsystem.spindexerOff(); //hopperSubsystem.spindexerOff();
hopperSubsystem.stopKicker(); hopperSubsystem.stopKicker();
turretSubsystem.setLauncher(0); turretSubsystem.setLauncher(0);