Team4388/2026KPopRobotHunters
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Add better feeder idle, shooter aim lead.

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This commit is contained in:
Michael Mikovsky
2026-02-24 13:50:30 -07:00
parent 17052c892b
commit 6e8078e0be
5 changed files with 83 additions and 23 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+8 -8
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@@ -99,7 +99,7 @@ public class RobotContainer {
);
private Command RobotShoot = new SequentialCommandGroup(
new InstantCommand(() -> m_robotShooter.setShooterReady()),
new InstantCommand(() -> m_robotShooter.spinUpShooting()),
new RunCommand(
() -> {
m_robotSwerveDrive.driveFacingPosition(
@@ -110,9 +110,9 @@ public class RobotContainer {
}, m_robotSwerveDrive),
new InstantCommand(()->m_robotIntake.setMode(IntakeMode.Idle)),
new WaitCommand(5),
new InstantCommand(()->m_robotShooter.setShooterShoot()),
new InstantCommand(()->m_robotShooter.allowShooting()),
new WaitCommand(10),
new InstantCommand(()->m_robotShooter.setShooterNOTShoot())
new InstantCommand(()->m_robotShooter.denyShooting())
);
// private Command RobotShoot = new SequentialCommandGroup(
@@ -256,18 +256,18 @@ public class RobotContainer {
new Trigger(() -> getDeadbandedOperatorController().getLeftTriggerAxis() >= 0.5)
.onTrue(new InstantCommand(() -> {
m_robotShooter.setShooterNotReady();
m_robotShooter.spinUpIdle();
}));
new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
.onTrue(new InstantCommand(() -> {
m_robotShooter.setShooterReady();
m_robotShooter.spinUpShooting();
m_robotIntake.setMode(IntakeMode.Idle);
}));
new JoystickButton(getDeadbandedOperatorController(), XboxController.BACK_BUTTON)
.onTrue(new InstantCommand(() -> {
m_robotShooter.setShooterReadyFeeder();
m_robotShooter.spinUpFeeding();
}));
@@ -275,9 +275,9 @@ public class RobotContainer {
new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> {
m_robotShooter.setShooterShoot();
m_robotShooter.allowShooting();
})).onFalse(new InstantCommand(() -> {
m_robotShooter.setShooterNOTShoot();
m_robotShooter.denyShooting();
}));
new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON)