Team_2648/2026-Robot-Code
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after UNH

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This commit is contained in:
Tylr-J42
2026-03-29 23:49:32 -04:00
parent eb02a28048
commit 07656eedc1
1 changed files with 9 additions and 2 deletions
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11
src/main/java/frc/robot/RobotContainer.java
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@@ -285,6 +285,8 @@ public class RobotContainer {
intakePivot.setDefaultCommand(intakePivot.manualSpeed(() -> secondary.getLeftY())); intakePivot.setDefaultCommand(intakePivot.manualSpeed(() -> secondary.getLeftY()));
// secondary.leftStick().whileTrue(intakePivot.manualSpeed(() -> secondary.getLeftY()));
driver.a().onTrue(new InstantCommand(() -> resetOdometryToVisualPose = true)); driver.a().onTrue(new InstantCommand(() -> resetOdometryToVisualPose = true));
driver.y().whileTrue(drivetrain.zeroHeading()); driver.y().whileTrue(drivetrain.zeroHeading());
driver.x().whileTrue(drivetrain.setX()); driver.x().whileTrue(drivetrain.setX());
@@ -302,10 +304,15 @@ public class RobotContainer {
driver.rightTrigger().whileTrue( driver.rightTrigger().whileTrue(
spindexer.spinToShooter(shooter::getAverageActualSpeeds, 2000).alongWith( spindexer.spinToShooter(shooter::getAverageActualSpeeds, 2000).alongWith(
intakeRoller.runIn(), intakeRoller.runIn()/* ,
intakePivot.jimmy(.5) intakePivot.jimmy(.5)*/
) )
); );
driver.rightTrigger().whileTrue(
intakePivot.jimmy(.5)
);
secondary.leftBumper().onTrue(new InstantCommand(() -> {}, intakePivot));
driver.rightTrigger().onFalse( driver.rightTrigger().onFalse(
intakePivot.manualSpeed(() -> 0.75).withTimeout(0.5) intakePivot.manualSpeed(() -> 0.75).withTimeout(0.5)