From d39ae30645218d7fff75452f4ea690f5e99603f1 Mon Sep 17 00:00:00 2001
From: David Tian <dtian.github@outlook.com>
Date: Sun, 10 Nov 2024 23:50:55 -0800
Subject: [PATCH] End of season

---
 src/main/deploy/pathplanner/autos/Blue - D_54.auto    |  8 +++++++-
 .../java/com/team841/calliope/RobotContainer.java     |  7 +++++--
 .../java/com/team841/calliope/drive/BioDrive.java     | 11 ++++-------
 .../calliope/superstructure/shooter/Shooter.java      |  2 ++
 4 files changed, 18 insertions(+), 10 deletions(-)

diff --git a/src/main/deploy/pathplanner/autos/Blue - D_54.auto b/src/main/deploy/pathplanner/autos/Blue - D_54.auto
index d60de85..1d9961c 100644
--- a/src/main/deploy/pathplanner/autos/Blue - D_54.auto	
+++ b/src/main/deploy/pathplanner/autos/Blue - D_54.auto	
@@ -1,6 +1,12 @@
 {
   "version": 1.0,
-  "startingPose": null,
+  "startingPose": {
+    "position": {
+      "x": 1.53,
+      "y": 3.33
+    },
+    "rotation": 180.0
+  },
   "command": {
     "type": "sequential",
     "data": {
diff --git a/src/main/java/com/team841/calliope/RobotContainer.java b/src/main/java/com/team841/calliope/RobotContainer.java
index 7be5a75..db252f9 100644
--- a/src/main/java/com/team841/calliope/RobotContainer.java
+++ b/src/main/java/com/team841/calliope/RobotContainer.java
@@ -139,8 +139,7 @@ public RobotContainer() {
                 () -> -sticksPS5[0].getLeftX() * Swerve.MaxSpeed,
                 () -> -sticksPS5[0].getRightX() * Swerve.MaxAngularRate,
                 () -> sticksPS5[0].L2().getAsBoolean(),
-                () -> sticksXbox[0].rightBumper().getAsBoolean(),
-                () -> -sticksXbox[0].getRightX() * 2 * Math.PI);
+                () -> -sticksXbox[0].getLeftX());
 
 
 
@@ -317,6 +316,10 @@ private void configureDuoStick() {
                 .a()
                 .onTrue(new InstantCommand(shooter::trapShot))
                 .onFalse(new InstantCommand(shooter::stopShooter));
+
+        sticksXbox[0].rightBumper()
+                .whileTrue(new InstantCommand(shooter::flyShot2))
+                .onFalse(new InstantCommand(shooter::stopShooter));
     }
 
     private void registerNamedCommands(){
diff --git a/src/main/java/com/team841/calliope/drive/BioDrive.java b/src/main/java/com/team841/calliope/drive/BioDrive.java
index f993c72..d09883d 100644
--- a/src/main/java/com/team841/calliope/drive/BioDrive.java
+++ b/src/main/java/com/team841/calliope/drive/BioDrive.java
@@ -24,11 +24,10 @@ public class BioDrive extends Command {
 
      */
 
-    public BioDrive(Drivetrain drivetrain, DoubleSupplier velocityXGetter, DoubleSupplier velocityYGetter, DoubleSupplier velocityOmegaGetter, BooleanSupplier faceSpeakerGetter, BooleanSupplier overRideTurn, DoubleSupplier overrideVelocity) {
+    public BioDrive(Drivetrain drivetrain, DoubleSupplier velocityXGetter, DoubleSupplier velocityYGetter, DoubleSupplier velocityOmegaGetter, BooleanSupplier faceSpeakerGetter, DoubleSupplier overrideVelocity) {
 
         this(drivetrain, velocityXGetter, velocityYGetter, velocityOmegaGetter, faceSpeakerGetter);
 
-        this.Override = overRideTurn;
         this.vOverride = overrideVelocity;
 
     }
@@ -56,14 +55,13 @@ public BioDrive(Drivetrain drivetrain, DoubleSupplier velocityXGetter, DoubleSup
     private Command shootCommand;
 
     private DoubleSupplier mVelocityX, mVelocityY, mVelocityOmega, vOverride;
-    private BooleanSupplier mFaceSpeaker, mAutoShoot, Override;
+    private BooleanSupplier mFaceSpeaker, mAutoShoot;
 
     private boolean faceSpeaker = false;
     private double velocity_y = 0.0;
     private double velocity_x = 0.0;
     private double velocity_omega = 0.0;
     private boolean autoShoot = false;
-    private boolean overRide = false;
     private double overrideVelocity = 0.0;
 
     private Drivetrain drivetrain;
@@ -92,7 +90,6 @@ public void execute() {
         this.velocity_y = mVelocityY.getAsDouble();
         this.velocity_omega = mVelocityOmega.getAsDouble();
         //this.autoShoot = mAutoShoot.getAsBoolean();
-        this.overRide = Override.getAsBoolean();
         this.overrideVelocity = vOverride.getAsDouble();
 
         Logger.recordOutput("BioDrive/FaceSpeaker", this.faceSpeaker);
@@ -110,8 +107,8 @@ public void execute() {
             this.drivetrain.setControl(fieldCentricFacingAngle.withVelocityX(-this.velocity_x).withVelocityY(-this.velocity_y).withTargetDirection(angle));
 
              */
-        } else if (overRide) {
-            this.drivetrain.setControl(fieldCentricDrive.withVelocityX(-this.velocity_x).withVelocityY(-this.velocity_y).withRotationalRate(this.overrideVelocity));
+        } else if (Math.abs(overrideVelocity) > 0.15) {
+            this.drivetrain.setControl(fieldCentricDrive.withVelocityX(-this.velocity_x).withVelocityY(-this.velocity_y).withRotationalRate(-this.overrideVelocity * 2 * Math.PI));
         } else {
             this.drivetrain.setControl(fieldCentricDrive.withVelocityX(-this.velocity_x).withVelocityY(-this.velocity_y).withRotationalRate(this.velocity_omega));
         }
diff --git a/src/main/java/com/team841/calliope/superstructure/shooter/Shooter.java b/src/main/java/com/team841/calliope/superstructure/shooter/Shooter.java
index a358692..5b84213 100644
--- a/src/main/java/com/team841/calliope/superstructure/shooter/Shooter.java
+++ b/src/main/java/com/team841/calliope/superstructure/shooter/Shooter.java
@@ -49,6 +49,8 @@ public void flyShot() {
         io.setMotionMagicVelocityVoltageOutput(70);
     }
 
+    public void flyShot2() {io.setMotionMagicVelocityVoltageOutput(50);}
+
     public void disruptshot() {
         io.setMotionMagicVelocityVoltageOutput(12.5);
     }