From 77e6ce4801be0b0b872af818fb633b76eee4a983 Mon Sep 17 00:00:00 2001
From: Jestin VanScoyoc <31118852+JediScoy@users.noreply.github.com>
Date: Sat, 30 Mar 2024 22:07:05 -0400
Subject: [PATCH] with event marker

---
 src/main/deploy/pathplanner/autos/Start1.0-3 Quick.auto | 6 ++++++
 src/main/java/frc/robot/RobotContainer.java             | 6 ++----
 src/main/java/frc/robot/commands/ShootFromStage.java    | 3 +--
 src/main/java/frc/robot/util/Constants.java             | 4 ++--
 4 files changed, 11 insertions(+), 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
index a67ba7a..46a53e0 100644
--- 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
index 07023a2..0d3a677 100644
--- 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
index 281eb1e..8502125 100644
--- 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
index bad80bd..fa66359 100644
--- 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;
     
   }