fix auto

2026-06-09 00:38:03 -06:00 · 2026-03-20 20:33:15 -06:00
parent 95c8a167a5
commit 8c24514fe0
3 changed files with 17 additions and 11 deletions
@@ -137,10 +137,9 @@ public class RobotContainer {
        );

        private Command RobotShootDriving = new SequentialCommandGroup(
-            new InstantCommand(() -> 
-                m_robotSwerveDrive.enableRotationOverride(FieldPositions.HUB_POSITION)
-            ),
-            new WaitCommand(99) // stays on for the duration of the auto segment
+            new RunCommand(() -> 
+                m_robotSwerveDrive.enableRotationOverride(FieldPositions.HUB_POSITION, ShooterConstants.AIM_LEAD_TIME.get(), FieldPositions.HUB_POSITION)
+            ).withTimeout(20)
            ).finallyDo((interrupted) -> 
             m_robotSwerveDrive.disableRotationOverride()
        );