Merge pull request #529 from frc-862/526-fix-auto-smart-collect

[#526] fix auto smart collect
frc-862 · Apr 8, 2024 · 7b40442 · 7b40442
2 parents d21f531 + c7fbd7d
commit 7b40442
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Showing 2 changed files with 11 additions and 6 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -259,13 +259,18 @@ protected void configureButtonBindings() {
 						.andThen(new SmartCollect(() -> 0.65, () -> 0.9, collector, indexer, pivot, flywheel))
 						.deadlineWith(leds.enableState(LED_STATES.COLLECTING)));
 
+		// new Trigger(coPilot::getBButton)
+		// 	.whileTrue(new AutonSmartCollect(() -> 0.65, () -> 0.75, collector, indexer)
+			// .deadlineWith(leds.enableState(LED_STATES.COLLECTING).withTimeout(1)));
+
 		// cand shots for the robot
 		new Trigger(coPilot::getXButton)
 				.whileTrue(new PointBlankShot(flywheel, pivot).deadlineWith(leds.enableState(LED_STATES.SHOOTING)));
 		// new Trigger(coPilot::getYButton).whileTrue(new PivotUP(pivot));
-		// new Trigger(coPilot::getYButton).whileTrue(new NotePass(flywheel, pivot));
-		new Trigger(coPilot::getYButton).whileTrue(new Tune(flywheel, pivot)
-		.deadlineWith(leds.enableState(LED_STATES.SHOOTING)));
+		new Trigger(coPilot::getYButton).whileTrue(new NotePass(flywheel, pivot)
+				.deadlineWith(leds.enableState(LED_STATES.SHOOTING)));
+		// new Trigger(coPilot::getYButton).whileTrue(new Tune(flywheel, pivot)
+		// .deadlineWith(leds.enableState(LED_STATES.SHOOTING)));
 		new Trigger(coPilot::getAButton).whileTrue(new AmpShot(flywheel, pivot)
 				.deadlineWith(leds.enableState(LED_STATES.SHOOTING)));
 		new Trigger(coPilot::getRightBumper)

diff --git a/src/main/java/frc/robot/command/AutonSmartCollect.java b/src/main/java/frc/robot/command/AutonSmartCollect.java
@@ -41,10 +41,10 @@ public void initialize() {
     }
 
     @Override
-    public void execute() { // TODO this needs to be cleaned up
+    public void execute() {
         if (indexer.getPieceState() == PieceState.IN_COLLECT) {
             indexer.setPower(indexerPower.getAsDouble() / 2);
-            collector.setPower(collectorPower.getAsDouble() / 2);
+            // collector.setPower(collectorPower.getAsDouble() / 2);
         } else {
             collector.setPower(collectorPower.getAsDouble());
             indexer.setPower(indexerPower.getAsDouble());
@@ -61,6 +61,6 @@ public void end(boolean interrupted) {
 
     @Override
     public boolean isFinished() {
-        return indexer.getPieceState() == PieceState.IN_PIVOT && !collector.getEntryBeamBreakState();
+        return indexer.getPieceState() == PieceState.IN_PIVOT;
     }
 }