shooter jam prevention

2026-03-26 12:06:41 -04:00
parent 429fa04f99
commit 2b464d2f32
4 changed files with 49 additions and 17 deletions
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -301,7 +301,7 @@ public class RobotContainer {
        driver.rightBumper().whileTrue(intakeRoller.runIn());

        driver.rightTrigger().whileTrue(
-            spindexer.spinToShooter().onlyWhile(() -> shooter.getAverageActualSpeeds()>2000).alongWith(
+            spindexer.spinToShooter(shooter::getAverageActualSpeeds, 2000).alongWith(
                intakeRoller.runIn(),
                intakePivot.jimmy(.5)
            )