speed in auto

check fo rspeed in auto

src/main/java/frc4388/robot/RobotContainer.java

@@ -26,6 +26,7 @@ import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import edu.wpi.first.wpilibj2.command.WaitCommand;
+import edu.wpi.first.wpilibj2.command.WaitUntilCommand;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 import edu.wpi.first.wpilibj2.command.button.Trigger;
 import frc4388.robot.commands.alignment.AutoAlign;
@@ -95,7 +96,7 @@ public class RobotContainer {
     private Command autoCommand;
 
 
-    private Command RobotIntakeDown = new SequentialCommandGroup(
+    private Command RobotIntakeExtended = new SequentialCommandGroup(
         new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.Extended), m_robotIntake)
     );
 
@@ -118,25 +119,24 @@ public class RobotContainer {
     //     // .andThen(new InstantCommand(() -> m_robotSwerveDrive.softStop(), m_robotSwerveDrive))
     // );
 
-    private Command RobotReadyToShoot = new SequentialCommandGroup(
+    private Command RobotRev = new SequentialCommandGroup(
-        new InstantCommand(()-> m_robotIntake.setMode(IntakeMode.Idle),  m_robotIntake),
+        new InstantCommand(() -> m_robotShooter.spinUpShooting(), m_robotShooter),
-        new InstantCommand(() -> m_robotShooter.spinUpShooting(), m_robotShooter)
+        new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.Extended), m_robotIntake),
+        new InstantCommand(() -> m_robotIntake.rollerStop(), m_robotIntake)
     );
 
-    private Command IntakeRetracted = new SequentialCommandGroup(
+    private Command RobotIntakeRetracted = new SequentialCommandGroup(
         new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.Retracted), m_robotIntake)
     );
 
     private Command RobotShoot = new SequentialCommandGroup(
         // TEST NEW AUTO ALIGN
         //new AutoAlign(m_robotSwerveDrive, m_vision, new Pose2d(FieldPositions.HUB_POSITION,  new Rotation2d(0)), false),
-        new InstantCommand(()-> m_robotShooter.spinUpShooting(), m_robotShooter),
+        new WaitUntilCommand(m_robotShooter::isShooterUpToSpeed),
         new InstantCommand(()-> m_robotShooter.allowShooting(), m_robotShooter),
-        new WaitCommand(2),
+        new WaitCommand(5),
-        IntakeRetracted,
+        new InstantCommand(() -> m_robotShooter.denyShooting(), m_robotShooter),
-        new WaitCommand(3),
+        new InstantCommand(()->m_robotShooter.spinUpIdle(), m_robotShooter)
-        new InstantCommand(()->m_robotShooter.spinUpIdle(), m_robotShooter),
-        new InstantCommand(() -> m_robotShooter.denyShooting(), m_robotShooter)
     );
 
     
@@ -158,12 +158,11 @@ public class RobotContainer {
             m_robotShooter.io.updateGains();
         }, true);
 
-        NamedCommands.registerCommand("Robot Rev Up", RobotReadyToShoot);
+        NamedCommands.registerCommand("Robot Rev Up", RobotRev);
-        NamedCommands.registerCommand("Intake Retracted", IntakeRetracted);
+        NamedCommands.registerCommand("Robot Intake Retracted", RobotIntakeRetracted);
         NamedCommands.registerCommand("Robot Shoot", RobotShoot);
         // NamedCommands.registerCommand("Lidar Intake", LidarIntake);
-        NamedCommands.registerCommand("Robot Intake Down", RobotIntakeDown);
+        NamedCommands.registerCommand("Robot Intake Extended", RobotIntakeExtended);
-
 
         DriverStation.silenceJoystickConnectionWarning(true);
 

src/main/java/frc4388/robot/constants/BuildConstants.java

@@ -5,14 +5,14 @@ package frc4388.robot.constants;
  */
 public final class BuildConstants {
   public static final String MAVEN_GROUP = "";
-  public static final String MAVEN_NAME = "2026KPopRobotHunters-new";
+  public static final String MAVEN_NAME = "2026KPopRobotHunters";
   public static final String VERSION = "unspecified";
-  public static final int GIT_REVISION = 85;
+  public static final int GIT_REVISION = 112;
-  public static final String GIT_SHA = "3d22607e5a8805f6bafa42d0e8ae41a719741842";
+  public static final String GIT_SHA = "e299d3bd0a4dda5addf954455b0628b150cf6d35";
-  public static final String GIT_DATE = "2026-02-25 16:33:01 MST";
+  public static final String GIT_DATE = "2026-02-27 18:44:44 MST";
   public static final String GIT_BRANCH = "shikhar-op-controls";
-  public static final String BUILD_DATE = "2026-02-25 17:33:10 MST";
+  public static final String BUILD_DATE = "2026-02-27 20:01:01 MST";
-  public static final long BUILD_UNIX_TIME = 1772065990668L;
+  public static final long BUILD_UNIX_TIME = 1772247661187L;
   public static final int DIRTY = 1;
 
   private BuildConstants(){}

src/main/java/frc4388/robot/subsystems/shooter/Shooter.java

@@ -29,6 +29,7 @@ public class Shooter extends SubsystemBase {
     
 
     // Supplier<Pose2d> m_swervePoseSupplier;
+    public boolean badShooterVelocity;
 
 
     public Shooter(
@@ -75,6 +76,7 @@ public class Shooter extends SubsystemBase {
     }
 
 
+
     public void allowShooting() {
         shooterButtonReady = true;
     }
@@ -89,6 +91,12 @@ public class Shooter extends SubsystemBase {
         return mode;
     }
 
+    @AutoLogOutput
+    public boolean isShooterUpToSpeed() {
+        return !badShooterVelocity;
+    }
+
+
 
     @Override
     public void periodic() {
@@ -132,7 +140,8 @@ public class Shooter extends SubsystemBase {
         double shooterSpeed = Math.abs(state.motor1Velocity.in(RotationsPerSecond) + state.motor2Velocity.in(RotationsPerSecond)) / 2;
         double shooterSpeedTarget = Math.abs(state.motor1TargetVelocity.in(RotationsPerSecond) + state.motor2TargetVelocity.in(RotationsPerSecond)) / 2;
 
-        boolean badShooterVelocity = Math.abs(shooterSpeed - shooterSpeedTarget) > ShooterConstants.SHOOTER_SPEED_TOLERANCE.get();
+        badShooterVelocity = Math.abs(shooterSpeed - shooterSpeedTarget) > ShooterConstants.SHOOTER_SPEED_TOLERANCE.get();
+
 
         switch (mode) {
             case Shooting: