with event marker

CyberCoyotes · Mar 31, 2024 · 77e6ce4 · 77e6ce4
1 parent 4d007ca
commit 77e6ce4
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Showing 4 changed files with 11 additions and 8 deletions.
diff --git a/src/main/deploy/pathplanner/autos/Start1.0-3 Quick.auto b/src/main/deploy/pathplanner/autos/Start1.0-3 Quick.auto
@@ -42,6 +42,12 @@
             ]
           }
         },
+        {
+          "type": "named",
+          "data": {
+            "name": "ShootFromStage"
+          }
+        },
         {
           "type": "path",
           "data": {

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -127,11 +127,9 @@ public RobotContainer() {
 
     /* Pathplanner Named Commands */
     NamedCommands.registerCommand("ShootClose", new ShootClose(arm, index, intake, shooter));
-    NamedCommands.registerCommand("ShootClose2", shootWhenReadyAuton);
     NamedCommands.registerCommand("ShootFromStage", shootFromStage);
     NamedCommands.registerCommand("Intake", new IntakeIndex(index, intake));
     NamedCommands.registerCommand("AutoShootWhenReady", shootWhenReadyAuton); // Autonomous
-    NamedCommands.registerCommand("ShootWhenReady", shootWhenReadyAuton); // Autonomous 
     NamedCommands.registerCommand("SetFlywheelToIdle", setShooterIdle);
     // Constants.ArmConstants.ARM_MID_POSE));
 
@@ -207,10 +205,10 @@ private void configureBindings() {
     // m_driverController.rightTrigger().whileTrue(setShooterVelocity); 
 
     // TODO Testing "autonShootWhenReady" Remove later
-    // m_driverController.rightTrigger().whileTrue(autonShootWhenReady); 
+    m_driverController.leftTrigger().whileTrue(shootWhenReadyAuton); 
 
     // TODO Test MotionMagicVelocityVoltage" only, then remove
-    m_driverController.leftTrigger().whileTrue(new InstantCommand(() -> shooter2.setFlywheelVelocityMM(shooter2.FLYWHEEL_VELOCITY))); 
+    // m_driverController.leftTrigger().whileTrue(new InstantCommand(() -> shooter2.setFlywheelVelocityMM(shooter2.FLYWHEEL_VELOCITY))); 
 
     // TODO Remove comment out after testing the MotionMagic Velocity Voltage
     // m_driverController.leftTrigger().whileTrue(new SetIndex(index, -0.75));

diff --git a/src/main/java/frc/robot/commands/ShootFromStage.java b/src/main/java/frc/robot/commands/ShootFromStage.java
@@ -14,9 +14,8 @@ public ShootFromStage(ArmSubsystem arm, IndexSubsystem index, IntakeSubsystem in
         addCommands(
             // Set the arm to the middle position for shooting from the closest Stage leg
             new SetArmPosition(arm, Constants.ArmConstants.ARM_MID_POSE),
-
             // Check target velocity and index the game piece forward
-            new ShootWhenReady(shooter2, index, notesensor),
+            new ShootWhenReady(shooter2, index, notesensor).withTimeout(.75),
 
             // Set arm back to home position
             new SetArmPosition(arm, Constants.ArmConstants.ARM_HOME_POSE)

diff --git a/src/main/java/frc/robot/util/Constants.java b/src/main/java/frc/robot/util/Constants.java
@@ -112,8 +112,8 @@ public static class IndexConstants {
   }
 
   public static class IntakeConstants {
-    public static final double INTAKE_POWER = 0.75; // 0.75
-    public static final double INTAKE_POWER_REV = -0.75;
+    public static final double INTAKE_POWER = -0.75; // 0.75
+    public static final double INTAKE_POWER_REV = 0.75;
 
   }