allows for robot to shuttle notes #62
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penguin212
requested changes
Mar 29, 2024
| @@ -514,8 +516,12 @@ private void configureBindings() { | |||
| () -> shooterPivotSubsystem.setAngleOffset(Units.degreesToRadians(0))) | |||
| ); | |||
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| shuttleNotes.onTrue(new ShooterFlywheelShuttleCommand(swerveSubsystem, | |||
| shooterFlywheelSubsystem, swerveSubsystem::getRobotPosition, shooterPivotSubsystem) | |||
| shuttleNotesDefaultSpeed.onTrue(new ShooterFlywheelShuttleCommand(swerveSubsystem, | |||
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one switch and just use onFalse to set it back to default? no reason for this to be on two different switches.
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This also runs the shuttle command. Is that intended?
| @@ -70,16 +72,15 @@ public void initialize() { | |||
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| /** Is robot in center line. */ | |||
| public boolean isFinished() { | |||
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| return (poseSupplier.getPose2d().getX() < 326.365 + 70 || poseSupplier.getPose2d().getX() > 326.36 - 70); | |||
| return (poseSupplier.getPose2d().getX() < Units.inchesToMeters(326.365 + 70) || poseSupplier.getPose2d().getX() > Units.inchesToMeters(326.36 - 70)); | |||
| } | |||
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| /** What the command has to execute. */ | |||
| public void execute() { | |||
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| swerveSubsystem.setRobotRelativeDrivePowers(0, 0, -MathUtil.clamp( | |||
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Your command will work, but it prevents the driver from translating while this happens. This will require a rework so swerve is still drivable.
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