From c7071d409bf6db8460b2469e90a87430cc4527e8 Mon Sep 17 00:00:00 2001
From: NoahLacks63 <apexdeadlyranger@gmail.com>
Date: Tue, 25 Mar 2025 00:51:36 +0000
Subject: [PATCH] added a faster auto shoot and INDENTATION

---
 src/main/java/frc/robot/RobotContainer.java | 101 ++++++++++++++++++--
 1 file changed, 94 insertions(+), 7 deletions(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 3ecaa17..1aff18c 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -235,13 +235,100 @@ public class RobotContainer {
 		//new EventTrigger("Lift L4").onTrue(safeMoveManipulator(ElevatorConstants.kL4Position, ManipulatorPivotConstants.kL4Position));
 		//new EventTrigger("HP Pickup").onTrue(safeMoveManipulator(ElevatorConstants.kL4Position, ManipulatorPivotConstants.kL4Position));
 
-		NamedCommands.registerCommand("Drivetrain Set X", drivetrain.setXCommand());
-		NamedCommands.registerCommand("Shoot Coral L4", Commands.race(manipulator.runManipulator(() -> 0.4, true).withTimeout(0.5)
-			.andThen(manipulator.runManipulator(() -> 0.0, false).withTimeout(0.01)), Commands.parallel(elevator.maintainPosition(), manipulatorPivot.maintainPosition())));
-		NamedCommands.registerCommand("Collect Coral", manipulator.runUntilCollected(() -> 0.30).andThen(manipulator.runManipulator(() -> 0, false).withTimeout(0.01)));
-		NamedCommands.registerCommand("Lift L4", safeMoveManipulator(ElevatorConstants.kL4Position, ManipulatorPivotConstants.kL4Position)
-			.andThen(elevator.maintainPosition().withTimeout(0.1), manipulatorPivot.maintainPosition().withTimeout(0.01)));
-		NamedCommands.registerCommand("HP Pickup", safeMoveManipulator(ElevatorConstants.kCoralIntakePosition, ManipulatorPivotConstants.kStartingPosition));
+		NamedCommands.registerCommand(
+			"Drivetrain Set X", 
+			drivetrain.setXCommand()
+		);
+
+		NamedCommands.registerCommand(
+			"Shoot Coral L4", 
+			Commands.race(
+				manipulator.runManipulator(
+					() -> 0.4, 
+					true
+				).withTimeout(
+					0.5
+				).andThen(
+					manipulator.runManipulator(
+						() -> 0.0, 
+						false
+					).withTimeout(
+						0.01
+					)
+				), 
+				Commands.parallel(
+					elevator.maintainPosition(), 
+					manipulatorPivot.maintainPosition()
+				)
+			)
+		);
+
+		NamedCommands.registerCommand(
+			"Shoot Coral L4 Fast", 
+			Commands.race(
+				manipulator.runManipulator(
+					() -> 1,
+					true
+				).andThen(
+					manipulator.runManipulator(
+						() -> 1, 
+						true
+					).withTimeout(
+						0.125
+					)
+				).withTimeout(
+					3
+				).andThen(
+					manipulator.runManipulator(
+						() -> 0, 
+						true
+					)
+				), 
+				Commands.parallel(
+					elevator.maintainPosition(), 
+					manipulatorPivot.maintainPosition()
+				)
+			)
+		);
+
+		NamedCommands.registerCommand(
+			"Collect Coral", 
+			manipulator.runUntilCollected(
+				() -> 0.30
+			).andThen(
+				manipulator.runManipulator(
+					() -> 0, 
+					false
+				).withTimeout(
+					0.01
+				)
+			)
+		);
+
+		NamedCommands.registerCommand(
+			"Lift L4", 
+			safeMoveManipulator(
+				ElevatorConstants.kL4Position, 
+				ManipulatorPivotConstants.kL4Position
+			).andThen(
+				elevator.maintainPosition()
+					.withTimeout(
+						0.1
+					), 
+				manipulatorPivot.maintainPosition()
+					.withTimeout(
+						0.01
+					)
+			)
+		);
+
+		NamedCommands.registerCommand(
+			"HP Pickup", 
+			safeMoveManipulator(
+				ElevatorConstants.kCoralIntakePosition, 
+				ManipulatorPivotConstants.kStartingPosition
+			)
+		);
 	}
 
 	//creates tabs and transforms them on the shuffleboard