[#479] - made a command for it

src/main/java/frc/robot/Constants.java

@@ -639,6 +639,10 @@ public class CandConstants { // TODO get real
         public static final double SOURCE_RPM = -300d; // TODO test
         public static final double SOURCE_ANGLE = 90d; // TODO test
 
+        // Pass
+        public static final double NOTE_PASS_ANGLE = 0d;
+        public static final double NOTE_PASS_RPM = 0d;
+
         // TODO find time to shoot
         public static final double TIME_TO_SHOOT = 1d; // Time in seconds it takes from indexer start to flywheel exit
     }

src/main/java/frc/robot/command/shoot/NotePass.java

@@ -0,0 +1,56 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.command.shoot;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.RobotContainer;
+import frc.robot.Constants.CandConstants;
+import frc.robot.subsystems.Flywheel;
+import frc.robot.subsystems.Pivot;
+import frc.thunder.command.TimedCommand;
+
+public class NotePass extends Command {
+  private final Flywheel flywheel;
+	private final Pivot pivot;
+
+	/**
+	 * Creates a new NotePass.
+	 *
+	 * @param pivot    subsystem
+	 * @param flywheel subsystem
+	 */
+	public NotePass(Flywheel flywheel, Pivot pivot) {
+		this.flywheel = flywheel;
+		this.pivot = pivot;
+
+		addRequirements(flywheel, pivot);
+	}
+
+	@Override
+	public void initialize() {
+		flywheel.setAllMotorsRPM(CandConstants.NOTE_PASS_RPM + flywheel.getBias());
+		pivot.setTargetAngle(CandConstants.NOTE_PASS_ANGLE + pivot.getBias());
+	}
+
+	@Override
+	public void execute() {
+		flywheel.setAllMotorsRPM(CandConstants.NOTE_PASS_RPM + pivot.getBias());
+		pivot.setTargetAngle(CandConstants.NOTE_PASS_ANGLE + flywheel.getBias());
+		if(flywheel.allMotorsOnTarget() && pivot.onTarget()) {
+			new TimedCommand(RobotContainer.hapticCopilotCommand(), 1d).schedule();
+		}
+	}
+
+	@Override
+	public void end(boolean interrupted) {
+		flywheel.coast(true);
+		pivot.setTargetAngle(pivot.getStowAngle());
+	}
+
+	@Override
+	public boolean isFinished() {
+		return false;
+	}
+}