Team_2648/2026-Robot-Code
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Adding a few subsystems, not sure I like the use of periodic for the shooter and intake pivot subsystems

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Bradley Bickford
2026-02-06 21:07:38 -05:00
parent ffc1c0cd8b
commit faff80fb9a
8 changed files with 323 additions and 19 deletions
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8
src/main/java/frc/robot/RobotContainer.java
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@@ -94,28 +94,28 @@ public class RobotContainer {
new Trigger(() -> shiftTimer.get() > 10 && shiftTimer.get() <= 35).onTrue(new InstantCommand(() -> {
SmartDashboard.putStringArray(
OIConstants.kCurrentActiveHub,
Utilities.ShiftFirst() == Alliance.Red ? OIConstants.kRedDisplay : OIConstants.kBlueDisplay
Utilities.whoHasFirstShift() == Alliance.Red ? OIConstants.kRedDisplay : OIConstants.kBlueDisplay
);
}));
new Trigger(() -> shiftTimer.get() > 35 && shiftTimer.get() <= 60).onTrue(new InstantCommand(() -> {
SmartDashboard.putStringArray(
OIConstants.kCurrentActiveHub,
Utilities.ShiftFirst() == Alliance.Red ? OIConstants.kBlueDisplay : OIConstants.kRedDisplay
Utilities.whoHasFirstShift() == Alliance.Red ? OIConstants.kBlueDisplay : OIConstants.kRedDisplay
);
}));
new Trigger(() -> shiftTimer.get() > 60 && shiftTimer.get() <= 85).onTrue(new InstantCommand(() -> {
SmartDashboard.putStringArray(
OIConstants.kCurrentActiveHub,
Utilities.ShiftFirst() == Alliance.Red ? OIConstants.kRedDisplay : OIConstants.kBlueDisplay
Utilities.whoHasFirstShift() == Alliance.Red ? OIConstants.kRedDisplay : OIConstants.kBlueDisplay
);
}));
new Trigger(() -> shiftTimer.get() > 85 && shiftTimer.get() <= 110).onTrue(new InstantCommand(() -> {
SmartDashboard.putStringArray(
OIConstants.kCurrentActiveHub,
Utilities.ShiftFirst() == Alliance.Red ? OIConstants.kBlueDisplay : OIConstants.kRedDisplay
Utilities.whoHasFirstShift() == Alliance.Red ? OIConstants.kBlueDisplay : OIConstants.kRedDisplay
);
}));