FairportRobotics
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Castor2026
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turret lock

This commit is contained in:
TheRealGrayden 2026-03-31 18:59:26 -04:00
parent 2de2287b9b
commit d98cf15a8d
2 changed files with 3 additions and 2 deletions
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3
src/main/java/frc/robot/RobotContainer.java
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@ -6,6 +6,7 @@ package frc.robot;
import edu.wpi.first.wpilibj.XboxController; import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController; import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import edu.wpi.first.wpilibj2.command.button.Trigger; import edu.wpi.first.wpilibj2.command.button.Trigger;
import frc.robot.Constants.OperatorConstants; import frc.robot.Constants.OperatorConstants;
@ -79,6 +80,6 @@ public class RobotContainer {
*/ */
public Command getAutonomousCommand() { public Command getAutonomousCommand() {
// An example command will be run in autonomous // An example command will be run in autonomous
return driveSubsystem.getAutoCommand(); return Commands.parallel(Commands.run(()-> {turretSubsystem.homeTurret();}, turretSubsystem), driveSubsystem.getAutoCommand());
} }
} }

2
src/main/java/frc/robot/subsystems/TurretSubsystem.java
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@ -206,7 +206,7 @@ public class TurretSubsystem extends TestableSubsystem {
.withReverseSoftLimitEnable(true) .withReverseSoftLimitEnable(true)
.withReverseSoftLimitThreshold(reverseLimit) .withReverseSoftLimitThreshold(reverseLimit)
); );
// setTurretRotation(Angle.ofRelativeUnits(0, Units.Degrees)); setTurretRotation(Angle.ofRelativeUnits(180, Units.Degrees));
} }
} }