Team_2648/2026-Robot-Code
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This commit is contained in:
Tylr-J42
2026-03-21 17:07:31 -04:00
parent cb1c7ba0e3
commit db4bab6e16
8 changed files with 245 additions and 32 deletions
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9
src/main/java/frc/robot/RobotContainer.java
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@@ -391,7 +391,7 @@ public class RobotContainer {
NamedCommands.registerCommand("spinup",
shooter.maintainSpeed(ShooterSpeeds.kHubSpeed)
.withTimeout(3));
.withTimeout(2));
NamedCommands.registerCommand("shoot close",
spindexer.spinToShooter()
@@ -405,6 +405,10 @@ public class RobotContainer {
.onTrue(
intakeRoller.runIn());
new EventTrigger("windup trigger")
.onTrue(
shooter.maintainSpeed(ShooterSpeeds.kHubSpeed));
NamedCommands.registerCommand("stop spindexer", spindexer.instantaneousStop());
NamedCommands.registerCommand("jimmy",
@@ -420,7 +424,8 @@ public class RobotContainer {
).withTimeout(3).andThen(spindexer.instantaneousStop()));
NamedCommands.registerCommand("auto shoot", hood.trackToAnglePoseBased(drivetrain, shooter));
NamedCommands.registerCommand("auto shoot", hood.trackToAnglePoseBased(drivetrain, shooter)
.alongWith(shooter.maintainSpeed(ShooterSpeeds.kHubSpeed), spindexer.spinToShooter(), intakePivot.jimmy(0.5)));
}
public Command getAutonomousCommand() {