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Min speed and endeffector motor safety

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This commit is contained in:
Michael Mikovsky
2025-03-06 17:34:16 -07:00
parent 90f8e0ee70
commit 85965a892a
6 changed files with 54 additions and 11 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+4
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@@ -14,6 +14,7 @@ import java.io.File;
import java.util.ArrayList;
import java.util.List;
import java.util.function.BooleanSupplier;
import java.util.function.Supplier;
import edu.wpi.first.cameraserver.CameraServer;
import edu.wpi.first.math.geometry.Rotation2d;
@@ -338,6 +339,9 @@ public class RobotContainer {
NamedCommands.registerCommand("grab-coral", waitFeedStation.asProxy());
NamedCommands.registerCommand("await-coral", new waitFeedCoral(m_robotElevator));
NamedCommands.registerCommand("stop", new waitSupplier(() -> m_robotSwerveDrive.lastOdomSpeed < AutoConstants.STOP_VELOCITY));
NamedCommands.registerCommand("align-feed", new SequentialCommandGroup(
new MoveForTimeCommand(m_robotSwerveDrive,
new Translation2d(0, 1),