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.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.Trigger;
import frc.robot.Constants.OperatorConstants;
@ -79,6 +80,6 @@ public class RobotContainer {
*/
public Command getAutonomousCommand() {
// 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
View File

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