From bd58fb32463cd03f63328bdac596311cc54e75d0 Mon Sep 17 00:00:00 2001
From: Abhishrek05 <90010729+Abhishrek05@users.noreply.github.com>
Date: Thu, 8 Feb 2024 19:52:36 -0700
Subject: [PATCH] Shooter works, swerve works, camera setup (im geekin)

---
 src/main/java/frc4388/robot/Constants.java      |  2 +-
 src/main/java/frc4388/robot/Robot.java          |  2 ++
 src/main/java/frc4388/robot/RobotContainer.java | 14 +++++++-------
 3 files changed, 10 insertions(+), 8 deletions(-)

diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index e6153f2..0683984 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -155,7 +155,7 @@ public final class Constants {
     public static final class ShooterConstants {
         public static final int LEFT_SHOOTER_ID = 15; // final
         public static final int RIGHT_SHOOTER_ID = 16; // final
-        public static final double SHOOTER_SPEED = 0.8; // final
+        public static final double SHOOTER_SPEED = 1; // final
     }
 
     public static final class IntakeConstants {
diff --git a/src/main/java/frc4388/robot/Robot.java b/src/main/java/frc4388/robot/Robot.java
index e555b09..47bdb52 100644
--- a/src/main/java/frc4388/robot/Robot.java
+++ b/src/main/java/frc4388/robot/Robot.java
@@ -7,6 +7,7 @@
 
 package frc4388.robot;
 
+import edu.wpi.first.cameraserver.CameraServer;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
@@ -35,6 +36,7 @@ public class Robot extends TimedRobot {
     // Instantiate our RobotContainer.  This will perform all our button bindings, and put our
     // autonomous chooser on the dashboard.
     m_robotContainer = new RobotContainer();
+    CameraServer.startAutomaticCapture();
   }
 
   /**
diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index fd86c37..48bb6c2 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -116,17 +116,17 @@ public class RobotContainer {
         
         
         /* Operator Buttons */
-         new JoystickButton(getDeadbandedOperatorController(), XboxController.B_BUTTON)
+        new JoystickButton(getDeadbandedDriverController(), XboxController.B_BUTTON)
              .onTrue(new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter))
              .onFalse(new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter));
              
-         new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON)
-             .onTrue(new InstantCommand(() ->  new RotateIntakeToPosition(m_robotIntake, 360).execute(), m_robotIntake))
-             .onFalse(new InstantCommand(() -> new RotateIntakeToPosition(m_robotIntake, 0).execute(), m_robotShooter));
+        // new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON)
+        //      .onTrue(new InstantCommand(() ->  new RotateIntakeToPosition(m_robotIntake, 360).execute(), m_robotIntake))
+        //      .onFalse(new InstantCommand(() -> new RotateIntakeToPosition(m_robotIntake, 0).execute(), m_robotShooter));
              
-        new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON)
-            .onTrue(new InstantCommand(() -> m_robotIntake.spinIntakeMotor()))
-            .onFalse(new InstantCommand(() -> m_robotIntake.stopIntakeMotors()));
+        // new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON)
+        //     .onTrue(new InstantCommand(() -> m_robotIntake.spinIntakeMotor()))
+        //     .onFalse(new InstantCommand(() -> m_robotIntake.stopIntakeMotors()));
         
     }