Skip to content

Point where velocity is pointing while intaking #111

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
themehdev wants to merge 1 commit into
base: main
Choose a base branch
from
Open

Point where velocity is pointing while intaking #111

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion src/main/java/frc/robot/RobotContainer.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -297,7 +297,7 @@ private void configureBindings() {
gamepad_.back().or(operatorGamepad_.back()).onTrue(shooter_.cycleTuning()) ;

// While the left trigger is held, we will run the intake. If the intake is stowed, it will also deploy it.
gamepad_.leftTrigger().or(operatorGamepad_.leftTrigger()).whileTrue(RobotCommands.intake(intake_, hopper_));
gamepad_.leftTrigger().or(operatorGamepad_.leftTrigger()).whileTrue(RobotCommands.intake(intake_, hopper_, drivebase_, () -> new Rotation2d(Math.atan2(gamepad_.getLeftY(), gamepad_.getLeftX()))));

// While the right trigger is held, we will shoot into the hub or ferry. Binding A to the shaking of the shooter.
gamepad_.rightTrigger().or(operatorGamepad_.rightTrigger())
Expand Down
6 changes: 4 additions & 2 deletions src/main/java/frc/robot/commands/robot/RobotCommands.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -184,7 +184,9 @@ public static Command ejectUp(Shooter shooter, Hopper hopper) {
* @param hopper
* @return
*/
public static Command intake(IntakeSubsystem intake, Hopper hopper) {
return intake.intakeSequence().alongWith(hopper.collectScrambler());
public static Command intake(IntakeSubsystem intake, Hopper hopper, Drive drive, Supplier<Rotation2d> angle) {
return intake.intakeSequence().alongWith(hopper.collectScrambler(), DriveCommands.joystickDriveAtAngle(() -> {
return angle.get();
}));
}
}
Loading