Team4388/2026KPopRobotHunters
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This commit is contained in:
Shikhar
2026-04-10 11:12:51 -06:00
parent aabcc8d5de
commit 3d28ae4798
8 changed files with 55 additions and 36 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+16 -4
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@@ -156,16 +156,27 @@ public class RobotContainer {
private Command IntakeRetracted = new SequentialCommandGroup(
new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.RectractTorque), m_robotIntake)
);
private Command RobotHalfShoot = new SequentialCommandGroup(
new WaitUntilCommand(m_robotShooter::isShooterUpToSpeed),
new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.Idle), m_robotIntake),
new InstantCommand(()-> m_robotShooter.allowShooting(), m_robotShooter),
new WaitCommand(2.0),
new InstantCommand(() -> m_robotShooter.denyShooting(), m_robotShooter),
new InstantCommand(()->m_robotShooter.spinUpIdle(), m_robotShooter)
);
private Command RobotShoot = new SequentialCommandGroup(
private Command RobotFullShoot = new SequentialCommandGroup(
// TEST NEW AUTO ALIGN
//new AutoAlign(m_robotSwerveDrive, m_vision, new Pose2d(FieldPositions.HUB_POSITION, new Rotation2d(0)), false),
new WaitUntilCommand(m_robotShooter::isShooterUpToSpeed),
new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.Idle), m_robotIntake),
new InstantCommand(()-> m_robotShooter.allowShooting(), m_robotShooter),
new WaitCommand(2.75),
new WaitCommand(2.5),
// new WaitCommand(2.25),
IntakeRetracted,
new WaitCommand(4.4),
new WaitCommand(5),
// new WaitCommand(4.25),
new InstantCommand(() -> m_robotShooter.denyShooting(), m_robotShooter),
new InstantCommand(()->m_robotShooter.spinUpIdle(), m_robotShooter)
);
@@ -192,7 +203,8 @@ public class RobotContainer {
NamedCommands.registerCommand("Robot Rev Up", RobotRev);
NamedCommands.registerCommand("Intake Retracted", IntakeRetracted);
NamedCommands.registerCommand("Robot Shoot", RobotShoot);
NamedCommands.registerCommand("Robot Shoot", RobotFullShoot);
NamedCommands.registerCommand("Robot Half Shot", RobotHalfShoot);
// NamedCommands.registerCommand("Lidar Intake", LidarIntake);
NamedCommands.registerCommand("Intake Extended", IntakeExtended);
NamedCommands.registerCommand("Labubu Growl", LabubuGrowl);