Team4388/2026KPopRobotHunters
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Intake Reference added

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This commit is contained in:
mimigamin
2026-04-04 13:03:19 -06:00
parent 2d56e5eeff
commit fe832a2bc3
7 changed files with 91 additions and 5 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+5 -1
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@@ -36,6 +36,7 @@ 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.waitSupplier;
import frc4388.robot.commands.Swerve.StayInPosition;
import frc4388.robot.commands.alignment.AutoAlign;
import frc4388.robot.constants.Constants;
@@ -137,6 +138,9 @@ public class RobotContainer {
new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.Idle), m_robotIntake)
);
private Command WaitIntakeReference =
new WaitUntilCommand(m_robotIntake::intakeAtReference);
private Command RobotShootDriving = new SequentialCommandGroup(
new RunCommand(() ->
m_robotSwerveDrive.enableRotationOverride(FieldPositions.HUB_POSITION, ShooterConstants.AIM_LEAD_TIME.get(), FieldPositions.HUB_POSITION)
@@ -186,7 +190,7 @@ public class RobotContainer {
// NamedCommands.registerCommand("Lidar Intake", LidarIntake);
NamedCommands.registerCommand("Intake Extended", IntakeExtended);
NamedCommands.registerCommand("Robot Shoot Driving", RobotShootDriving);
NamedCommands.registerCommand("Intake Reference", WaitIntakeReference);
NamedCommands.registerCommand("WaitShooter", new WaitUntilCommand(m_robotShooter::isShooterUpToSpeed));
NamedCommands.registerCommand("AllowShooting", new InstantCommand(() -> m_robotShooter.allowShooting(), m_robotShooter));
NamedCommands.registerCommand("DenyShooting", new InstantCommand(() -> m_robotShooter.denyShooting(), m_robotShooter));