From da8fac33778cab3f743dc799d2203339f60c9368 Mon Sep 17 00:00:00 2001
From: aarav18 <aaravshah18@gmail.com>
Date: Sun, 20 Mar 2022 16:22:11 -0600
Subject: [PATCH] smol change

---
 .../java/frc4388/robot/RobotContainer.java    | 25 +++++++++++--------
 .../robot/commands/ShooterCommands/Shoot.java |  3 ++-
 2 files changed, 17 insertions(+), 11 deletions(-)

diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 612ccf0..de5830a 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -74,6 +74,7 @@ import frc4388.robot.commands.ClimberCommands.RunClimberPath;
 // import frc4388.robot.commands.ButtonBoxCommands.TurretManual;
 import frc4388.robot.commands.ExtenderIntakeCommands.ExtenderIntakeGroup;
 import frc4388.robot.commands.ShooterCommands.AimToCenter;
+import frc4388.robot.commands.ShooterCommands.Seek;
 import frc4388.robot.commands.ShooterCommands.Shoot;
 import frc4388.robot.commands.ShooterCommands.TrackTarget;
 import frc4388.robot.commands.StorageCommands.ManageStorage;
@@ -283,18 +284,22 @@ public class RobotContainer {
     //      .whenReleased(new InstantCommand(() -> m_robotTurret.runTurretWithInput(0.0), m_robotTurret))
     //      .whenReleased(() -> m_robotSwerveDrive.stopModules());
         
-        new JoystickButton(getDriverController(), XboxController.Button.kX.value)
-        .whileHeld(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry));
-        // .whenReleased(new InstantCommand(() -> m_robotTurret.runTurretWithInput(0.0), m_robotTurret))
-        // .whenReleased(new InstantCommand(() -> m_robotHood.runHood(0.0), m_robotHood))
-        // .whenReleased(new InstantCommand(() -> m_robotBoomBoom.runDrumShooter(0.0), m_robotBoomBoom));
-        
-        /* Operator Buttons */
-        
+    // .whenReleased(new InstantCommand(() -> m_robotTurret.runTurretWithInput(0.0), m_robotTurret))
+    // .whenReleased(new InstantCommand(() -> m_robotHood.runHood(0.0), m_robotHood))
+    // .whenReleased(new InstantCommand(() -> m_robotBoomBoom.runDrumShooter(0.0), m_robotBoomBoom));
+    
+    /* Operator Buttons */
+    
     new JoystickButton(getOperatorController(), XboxController.Button.kY.value)
-        .whenPressed(new Shoot(m_robotSwerveDrive, m_robotBoomBoom, m_robotTurret, m_robotHood, m_robotVisionOdometry, false, false));
+      .whenPressed(new Shoot(m_robotSwerveDrive, m_robotBoomBoom, m_robotTurret, m_robotHood, m_robotVisionOdometry, false, false));
+      
+    // new JoystickButton(getDriverController(), XboxController.Button.kX.value)
+    //   .whileHeld(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry));
 
-    // new JoystickButton(getOperatorController(), XboxController.Button.kY.value)
+    new JoystickButton(getOperatorController(), XboxController.Button.kB.value)
+      .whileHeld(new Seek(m_robotSwerveDrive, m_robotBoomBoom, m_robotTurret, m_robotHood, m_robotVisionOdometry));
+
+      // new JoystickButton(getOperatorController(), XboxController.Button.kY.value)
     //   .whileHeld(new RunCommand(() -> m_robotClaws.setOpen(true)));
 
     // new JoystickButton(getOperatorController(), XboxController.Button.kB.value)
diff --git a/src/main/java/frc4388/robot/commands/ShooterCommands/Shoot.java b/src/main/java/frc4388/robot/commands/ShooterCommands/Shoot.java
index f3d1920..c4a448e 100644
--- a/src/main/java/frc4388/robot/commands/ShooterCommands/Shoot.java
+++ b/src/main/java/frc4388/robot/commands/ShooterCommands/Shoot.java
@@ -76,6 +76,7 @@ public class Shoot extends CommandBase {
     this.drum = drum;
     this.turret = turret;
     this.hood = hood;
+    this.visionOdometry = visionOdometry;
 
     this.toShoot = toShoot;
     this.endsWithLimelight = endsWithLimelight;
@@ -188,7 +189,7 @@ public class Shoot extends CommandBase {
 
     // ? should stop the turret and the swerve
     ////this.swerve.stopModules();
-    ////this.turret.runTurretWithInput(0);
+    this.turret.runTurretWithInput(0.0);
 
     if (this.toShoot) {
       this.hood.runHood(0.0);