From d666e9eb9d7a86340e1f58a49b42052cb057b547 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E2=80=AEAarav=20Shah?= <76842@psdschools.org>
Date: Sat, 29 Jan 2022 11:33:57 -0700
Subject: [PATCH] added tentative button mapping for boomboom

---
 .../java/frc4388/robot/RobotContainer.java    |  6 ++-
 .../frc4388/robot/subsystems/BoomBoom.java    | 41 -------------------
 2 files changed, 5 insertions(+), 42 deletions(-)

diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 8dee4e3..5360b3c 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -92,8 +92,12 @@ public class RobotContainer {
     new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
         .whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
         .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
+        // activates "BoomBoom"
+        new JoystickButton(getOperatorJoystick(), XboxController.B_BUTTON)
+            .whenPressed(() -> m_robotBoomBoom.runDrumShooterVelocityPID(0.1))
+            .whenReleased(() -> m_robotBoomBoom.runDrumShooterVelocityPID(0));
+    /* Driver Buttons */
   }
-
   /**
    * Use this to pass the autonomous command to the main {@link Robot} class.
    *
diff --git a/src/main/java/frc4388/robot/subsystems/BoomBoom.java b/src/main/java/frc4388/robot/subsystems/BoomBoom.java
index 88835cd..2e4b8f3 100644
--- a/src/main/java/frc4388/robot/subsystems/BoomBoom.java
+++ b/src/main/java/frc4388/robot/subsystems/BoomBoom.java
@@ -39,42 +39,6 @@ public double m_fireVel;
 public Hood m_hoodSubsystem;
 public Turret m_turretSubsystem;
 
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 SimpleMotorFeedforward feedforward = new SimpleMotorFeedforward(69, 42, 0); //get real values later
 
 
@@ -151,9 +115,6 @@ try {
     m_turretSubsystem = subsystem1;
   }
 
-  public double addFireVel(){
-    return m_fireVel;
-  }
 public void runDrumShooter(double speed) {
     m_shooterFalconLeft.set(TalonFXControlMode.PercentOutput, speed);
     m_shooterFalconRight.follow(m_shooterFalconLeft);
@@ -177,7 +138,5 @@ public void setShooterGains() {
     
     // m_shooterFalconLeft.set(controller.calculate(encoder.getRate(), targetVel) + 0.9 * feedforward.calculate(targetVel));
     m_shooterFalconLeft.set(m_controller.calculate(m_shooterFalconLeft.get(), targetVel));
-    
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   }
 }
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