auto stuf

auto stuff
2026-06-09 00:38:03 -06:00 · 2026-02-23 17:33:25 -07:00
parent ff0cff819c
commit 168b6f9643
8 changed files with 70 additions and 133 deletions
@@ -100,6 +100,14 @@ public class RobotContainer {
    
    private Command RobotShoot = new SequentialCommandGroup(
        new InstantCommand(() -> m_robotShooter.setShooterReady()),
+        new RunCommand(
+                () -> {
+                m_robotSwerveDrive.driveFacingPosition(
+                    getDeadbandedDriverController().getLeft(),
+                    FieldPositions.HUB_POSITION,
+                    ShooterConstants.AIM_LEAD_TIME.get()
+                    );
+                }, m_robotSwerveDrive),
        new InstantCommand(()->m_robotIntake.setMode(IntakeMode.Idle)),
        new WaitCommand(5),
        new InstantCommand(()->m_robotShooter.setShooterShoot()),
@@ -262,8 +270,7 @@ public class RobotContainer {
                m_robotShooter.setShooterReadyFeeder();
            }));

-            
-
+        


        new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON)