FairportRobotics
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Castor2026
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This commit is contained in:
TheRealGrayden 2026-03-31 19:22:24 -04:00
parent 4598a89b99
commit fa9d628c9c
2 changed files with 2 additions and 2 deletions
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2
src/main/java/frc/robot/RobotContainer.java
View File

@ -68,7 +68,7 @@ public class RobotContainer {
m_driverController.povRight().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_SET_ANGLE3)); m_driverController.povRight().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_SET_ANGLE3));
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.rightBumper().whileTrue(intakeSubsystem.intake()); m_driverController.rightBumper().onTrue(intakeSubsystem.intake());
m_driverController.y().onTrue(intakeSubsystem.deploy()); m_driverController.y().onTrue(intakeSubsystem.deploy());
m_driverController.x().whileTrue(new AutoShootCommandChassisTurret(driveSubsystem, hopperSubsystem, turretSubsystem)); m_driverController.x().whileTrue(new AutoShootCommandChassisTurret(driveSubsystem, hopperSubsystem, turretSubsystem));
} }

2
src/main/java/frc/robot/subsystems/IntakeSubsystem.java
View File

@ -63,7 +63,7 @@ public class IntakeSubsystem extends TestableSubsystem {
public Command intake() public Command intake()
{ {
return this.runEnd(() -> setSpeed(-.5), () -> { intakeMotor.stopMotor();}); return this.runOnce(() -> {if(intakeMotor.get()!=0){setSpeed(-.5);}else{intakeMotor.stopMotor();}});
} }
public Command reverseIntake() public Command reverseIntake()