Team4388/2026KPopRobotHunters
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This commit is contained in:
Michael Mikovsky
2026-02-28 12:15:57 -08:00
parent 2b178fae28
commit e1aa43d596
6 changed files with 36 additions and 115 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+4 -10
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@@ -120,27 +120,22 @@ public class RobotContainer {
// );
private Command RobotRev = new SequentialCommandGroup(
new InstantCommand(() -> m_robotShooter.spinUpShooting(), m_robotShooter),
new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.Extended), m_robotIntake),
new InstantCommand(() -> m_robotIntake.rollerStop(), m_robotIntake)
new InstantCommand(() -> m_robotIntake.rollerStop(), m_robotIntake),
new InstantCommand(() -> m_robotShooter.spinUpShooting(), m_robotShooter)
);
private Command RobotIntakeRetracted = new SequentialCommandGroup(
new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.Retracted), m_robotIntake)
);
private Command RobotRollerOff = new SequentialCommandGroup(
new InstantCommand(() -> m_robotIntake.rollerStop(), 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 WaitUntilCommand(m_robotShooter::isShooterUpToSpeed),
new InstantCommand(()-> m_robotShooter.allowShooting(), m_robotShooter),
new WaitCommand(3),
RobotIntakeRetracted,
new WaitCommand(2),
RobotIntakeRetracted,
new WaitCommand(4),
new InstantCommand(() -> m_robotShooter.denyShooting(), m_robotShooter),
new InstantCommand(()->m_robotShooter.spinUpIdle(), m_robotShooter)
);
@@ -167,7 +162,6 @@ public class RobotContainer {
NamedCommands.registerCommand("Robot Rev Up", RobotRev);
NamedCommands.registerCommand("Robot Intake Retracted", RobotIntakeRetracted);
NamedCommands.registerCommand("Robot Shoot", RobotShoot);
NamedCommands.registerCommand("Robot Roller Off", RobotRollerOff);
// NamedCommands.registerCommand("Lidar Intake", LidarIntake);
NamedCommands.registerCommand("Intake Extended", IntakeExtended);