Team_2648/2026-Robot-Code
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made intake jimmy a method and added a button for it

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This commit is contained in:
NoahLacks63
2026-03-19 15:16:29 -04:00
parent d29acde2df
commit 235f43fd2e
2 changed files with 35 additions and 15 deletions
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18
src/main/java/frc/robot/RobotContainer.java
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@@ -310,6 +310,12 @@ public class RobotContainer {
secondary.rightBumper().onTrue(hood.trackToAngle(() -> Units.degreesToRadians(10)));
//10 degrees good for shooting ~33in away from hub
secondary.y().whileTrue(
intakePivot.jimmy(.2)
.andThen(
intakePivot.manualSpeed(() -> -0.5)
)
);
hood.setDefaultCommand(hood.trackToAngle(() -> {
Pose2d drivetrainPose = drivetrain.getPose();
@@ -374,18 +380,12 @@ public class RobotContainer {
NamedCommands.registerCommand("stop spindexer", spindexer.instantaneousStop());
NamedCommands.registerCommand("jimmy",
Commands.repeatingSequence(
intakePivot.manualSpeed(() -> -0.75).withTimeout(0.2)
.andThen(intakePivot.manualSpeed(() -> 0.75).withTimeout(0.2))
)
);
intakePivot.jimmy(0.2)
);
NamedCommands.registerCommand("shoot N jimmy",
Commands.parallel(
Commands.repeatingSequence(
intakePivot.manualSpeed(() -> -0.75).withTimeout(0.5),
intakePivot.manualSpeed(() -> 0.75).withTimeout(0.5)
),
intakePivot.jimmy(0.5),
spindexer.spinToShooter()
.alongWith(shooter.maintainSpeed(ShooterSpeeds.kHubSpeed),
hood.trackToAngle(() -> Units.degreesToRadians(10)))