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src/main/java/frc4388/robot/RobotContainer.java

@@ -173,7 +173,7 @@ public class RobotContainer {
         // runs the storage not
         //m_robotStorage.setDefaultCommand(new RunCommand(() -> m_robotStorage.runStorage(0), m_robotStorage));
         m_robotStorage.setDefaultCommand(new ManageStorage(m_robotStorage));
-        //m_robotLime.setDefaultCommand(new RunCommand(() -> m_robotLime.limeOff(), m_robotLime));
+        m_robotLime.setDefaultCommand(new RunCommand(() -> m_robotLime.limeOff(), m_robotLime));
     }
 
     /**
@@ -233,7 +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(0.5), m_robotStorage))
+            .whenPressed(new RunCommand(() -> m_robotStorage.runStorage(1), m_robotStorage))
             .whenReleased(new InterruptSubystem(m_robotStorage));
 
         // extends or retracts the extender
@@ -254,7 +254,7 @@ public class RobotContainer {
 
         // starts tracking target
         new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
-            .whileHeld(new TrackTarget(m_robotShooterAim))
+            .whileHeld(new TrackTarget(m_robotShooterAim, m_robotLime))
             .whileHeld(new RunCommand(() -> m_robotShooterHood.runAngleAdjustPID(m_robotShooterHood.addFireAngle())))
             .whenReleased(new InstantCommand(() -> m_robotLime.limeOff()));
 
@@ -274,15 +274,15 @@ public class RobotContainer {
 
 
         //Run drum
-        new JoystickManualButton(getOperatorJoystick(), XboxController.B_BUTTON, false)
+        new JoystickButton(getOperatorJoystick(), XboxController.B_BUTTON)
-            .whileHeld(new ShootPrepGroup(m_robotShooter, m_robotShooterAim, m_robotShooterHood, m_robotStorage), false)
+            .whileHeld(new ShootPrepGroup(m_robotShooter, m_robotShooterAim, m_robotShooterHood, m_robotStorage, m_robotLime), false)
             //.whenReleased(new ManageStorage(m_robotStorage, StorageMode.RESET))
             .whenReleased(new InstantCommand(() -> m_robotLime.limeOff()));
 
         //Run drum manual
-        new JoystickManualButton(getOperatorJoystick(), XboxController.B_BUTTON, true)
+        /*new JoystickManualButton(getOperatorJoystick(), XboxController.B_BUTTON, true)
             .whileHeld(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(10000)))
-            .whenReleased(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(0)));
+            .whenReleased(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(0)));*/
 
 
 
@@ -356,7 +356,7 @@ public class RobotContainer {
         };
 
         m_tenBallAutoMiddle = new TenBallAutoMiddle(m_robotShooterHood, m_robotStorage, m_robotIntake, m_robotShooter,
-                m_robotShooterAim, m_robotDrive,buildPaths(tenBallAutoMiddlePaths));
+                m_robotShooterAim, m_robotDrive, m_robotLime, buildPaths(tenBallAutoMiddlePaths));
     }
 
     /**

src/main/java/frc4388/robot/commands/auto/TenBallAutoMiddle.java

@@ -18,6 +18,7 @@ import frc4388.robot.commands.shooter.ShootPrepGroup;
 import frc4388.robot.commands.storage.RunStorage;
 import frc4388.robot.subsystems.Drive;
 import frc4388.robot.subsystems.Intake;
+import frc4388.robot.subsystems.LimeLight;
 import frc4388.robot.subsystems.Shooter;
 import frc4388.robot.subsystems.ShooterAim;
 import frc4388.robot.subsystems.ShooterHood;
@@ -30,7 +31,7 @@ public class TenBallAutoMiddle extends SequentialCommandGroup {
   /**
    * Creates a new TenBallAutoMiddle.
    */
-  public TenBallAutoMiddle(ShooterHood shooterHood, Storage storage, Intake intake, Shooter shooter, ShooterAim shooterAim, Drive drive, RamseteCommand[] paths) {
+  public TenBallAutoMiddle(ShooterHood shooterHood, Storage storage, Intake intake, Shooter shooter, ShooterAim shooterAim, Drive drive, LimeLight m_limeLight, RamseteCommand[] paths) {
     // Add your commands in the super() call, e.g.
     // super(new FooCommand(), new BarCommand());
     addCommands(
@@ -46,10 +47,10 @@ public class TenBallAutoMiddle extends SequentialCommandGroup {
         new Wait(drive, 4, 0),
         new PrepChecker(shooter, shooterAim),
         new RunCommand(() -> intake.runExtender(IntakeConstants.EXTENDER_SPEED), intake),
-        new ShootPrepGroup(shooter, shooterAim, shooterHood, storage)
+        new ShootPrepGroup(shooter, shooterAim, shooterHood, storage, m_limeLight)
       ),
       new ParallelDeadlineGroup(
-        new ShootPrepGroup(shooter, shooterAim, shooterHood, storage),
+        new ShootPrepGroup(shooter, shooterAim, shooterHood, storage, m_limeLight),
         new RunStorage(storage)
       )
       //paths[0],

src/main/java/frc4388/robot/commands/shooter/ShootPrepGroup.java

@@ -9,6 +9,7 @@ package frc4388.robot.commands.shooter;
 
 import edu.wpi.first.wpilibj2.command.ParallelDeadlineGroup;
 import frc4388.robot.commands.storage.StoragePrep;
+import frc4388.robot.subsystems.LimeLight;
 import frc4388.robot.subsystems.Shooter;
 import frc4388.robot.subsystems.ShooterAim;
 import frc4388.robot.subsystems.ShooterHood;
@@ -24,9 +25,9 @@ public class ShootPrepGroup extends ParallelDeadlineGroup {
    * @param m_shooterAim The ShooterAim subsystem
    * @param m_storage The Storage subsytem
    */
-  public ShootPrepGroup(Shooter m_shooter, ShooterAim m_shooterAim, ShooterHood m_shooterHood, Storage m_storage) { 
+  public ShootPrepGroup(Shooter m_shooter, ShooterAim m_shooterAim, ShooterHood m_shooterHood, Storage m_storage, LimeLight m_limeLight) { 
     super(
-      new TrackTarget(m_shooterAim),
+      new TrackTarget(m_shooterAim, m_limeLight),
       new ShooterVelocityControlPID(m_shooter),
       new HoodPositionPID(m_shooterHood)
     );

src/main/java/frc4388/robot/commands/shooter/TrackTarget.java

@@ -39,24 +39,30 @@ public class TrackTarget extends CommandBase {
   public double m_hoodTrim;
   public double m_turretTrim;
 
+  LimeLight m_limeLight;
+
   /**
    * Uses the Limelight to track the target
    * @param shooterSubsystem The Shooter subsystem
    * @param aimSubsystem The ShooterAim subsystem
    */
-  public TrackTarget(ShooterAim aimSubsystem) {
+  public TrackTarget(ShooterAim aimSubsystem, LimeLight limeLight) {
     m_shooterAim = aimSubsystem;
     m_shooter = m_shooterAim.m_shooterSubsystem;
     m_shooterHood = m_shooter.m_shooterHoodSubsystem;
+    m_limeLight = limeLight;
     addRequirements(m_shooterAim);
-    NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(1);
+    //NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(1);
-    NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(0);
+    //NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(0);
+    m_limeLight.limeOff();
   }
 
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
     // Vision Processing Mode
+    //NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(0);
+    //NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(3);
     NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(0);
     NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(3);
   }

src/main/java/frc4388/robot/subsystems/LimeLight.java

@@ -20,7 +20,7 @@ public class LimeLight extends SubsystemBase {
 
   public void limeOff(){
     NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(1);
-    NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(0);
+    NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(1);
   }
   
   public void limeOn(){