From 289efc78d5688976968885f550a713585579cbde Mon Sep 17 00:00:00 2001
From: ryan123rudder <42309874+ryan123rudder@users.noreply.github.com>
Date: Tue, 23 Mar 2021 16:39:17 -0600
Subject: [PATCH] New points

---
 src/main/deploy/Robot Data - Distances.csv               | 1 +
 src/main/java/frc4388/robot/RobotContainer.java          | 9 ++++++---
 .../robot/commands/shooter/ShooterTrenchPosition.java    | 6 +++---
 3 files changed, 10 insertions(+), 6 deletions(-)

diff --git a/src/main/deploy/Robot Data - Distances.csv b/src/main/deploy/Robot Data - Distances.csv
index dbe365d..0ee5cca 100644
--- a/src/main/deploy/Robot Data - Distances.csv	
+++ b/src/main/deploy/Robot Data - Distances.csv	
@@ -1,6 +1,7 @@
 Distance (in),Hood Ext. (u),Drum Velocity (u/ds),Center Displacment (deg)
 0,16,6000,0,
 65.9,16,6000,0,
+103,19,6600,1,
 126.6,20.25,7000,0,
 180,24,8000,0,
 185.85,26.5, 9000,1.1,
diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 080c646..97bd1e9 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -185,8 +185,10 @@ public class RobotContainer {
     private void configureButtonBindings() {
         /* Test Buttons */
         // A driver test button
-        /*new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
-            .whileHeld(new InstantCommand(() -> m_robotDrive.tankDriveVelocity(1, -1), m_robotDrive));*/
+        new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
+            .whileHeld(new ShooterTrenchPosition(m_robotShooter, m_robotShooterHood, m_robotShooterAim))
+            .whenReleased(new InterruptSubystem(m_robotShooter))
+            .whenReleased(new InterruptSubystem(m_robotShooterHood));
 
         // B driver test button
         new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON)
@@ -231,7 +233,7 @@ public class RobotContainer {
             //.whenPressed(new ShootFullGroup(m_robotShooter, m_robotShooterAim, m_robotShooterHood, m_robotStorage), false);
             //.whenReleased(new ManageStorage(m_robotStorage, StorageMode.RESET));
             //.whenReleased(new RunCommand(() -> m_robotLime.limeOff()));
-            .whenPressed(new RunCommand(() -> m_robotStorage.runStorage(1), m_robotStorage))
+            .whenPressed(new RunCommand(() -> m_robotStorage.runStorage(0.3), m_robotStorage))
             .whenReleased(new InterruptSubystem(m_robotStorage));
 
         // extends or retracts the extender
@@ -270,6 +272,7 @@ public class RobotContainer {
             .whileHeld(new CalibrateShooter(m_robotShooter, m_robotShooterAim, m_robotShooterHood));
 
 
+
         //Run drum
         new JoystickManualButton(getOperatorJoystick(), XboxController.B_BUTTON, false)
             .whileHeld(new ShootPrepGroup(m_robotShooter, m_robotShooterAim, m_robotShooterHood, m_robotStorage), false)
diff --git a/src/main/java/frc4388/robot/commands/shooter/ShooterTrenchPosition.java b/src/main/java/frc4388/robot/commands/shooter/ShooterTrenchPosition.java
index ba452b7..793f245 100644
--- a/src/main/java/frc4388/robot/commands/shooter/ShooterTrenchPosition.java
+++ b/src/main/java/frc4388/robot/commands/shooter/ShooterTrenchPosition.java
@@ -34,9 +34,9 @@ public class ShooterTrenchPosition extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    m_shooter.runDrumShooterVelocityPID(5000);
-    m_hood.runAngleAdjustPID(3);
-    m_aim.runshooterRotatePID(-26.5);
+    m_shooter.runDrumShooterVelocityPID(5500);
+    m_hood.runAngleAdjustPID(11);
+    //m_aim.runshooterRotatePID(-28);
   }
 
   // Called once the command ends or is interrupted.