feat: add outtake and amp to demo

Update at 'Sun Aug 04 10:38:35 PDT 2024' Update at 'Sun Aug 04 10:40:20 PDT 2024' Update at 'Sun Aug 04 10:40:41 PDT 2024' Update at 'Sun Aug 04 10:56:01 PDT 2024'
flamingchickens1540 · Aug 4, 2024 · 4d106f3 · 4d106f3
1 parent d16a380
commit 4d106f3
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Showing 2 changed files with 8 additions and 6 deletions.
diff --git a/src/main/java/org/team1540/robot2024/RobotContainer.java b/src/main/java/org/team1540/robot2024/RobotContainer.java
@@ -167,11 +167,13 @@ private void configureButtonBindings() {
         driver.leftBumper().toggleOnTrue(overstageTargetDrive);
 
         kidPilot.leftBumper().or(kidPilot.leftTrigger()).whileTrue(new ContinuousIntakeCommand(indexer, leds, 1));
+        kidPilot.rightBumper().or(kidPilot.rightTrigger()).whileTrue(new ContinuousIntakeCommand(indexer, leds, -1));
 
         LoggedTunableNumber kidAngleSetpoint = new LoggedTunableNumber("kidMode/shooter/angle", HUB_SHOOT.pivot.getDegrees());
-        LoggedTunableNumber kidLeftSetpoint = new LoggedTunableNumber("kidMode/shooter/left", 2000);
-        LoggedTunableNumber kidRightSetpoint = new LoggedTunableNumber("kidMode/shooter/right", 2000);
-        kidPilot.rightBumper().or(kidPilot.rightTrigger()).whileTrue(new ShootSequence(shooter, indexer, () -> new ShooterSetpoint(Rotation2d.fromDegrees(kidAngleSetpoint.get()), kidLeftSetpoint.get(), kidRightSetpoint.get())));
+        LoggedTunableNumber kidLeftSetpoint = new LoggedTunableNumber("kidMode/shooter/left", 1500);
+        LoggedTunableNumber kidRightSetpoint = new LoggedTunableNumber("kidMode/shooter/right", 1500);
+        kidPilot.x().whileTrue(new ShootSequence(shooter, indexer, () -> new ShooterSetpoint(Rotation2d.fromDegrees(kidAngleSetpoint.get()), kidLeftSetpoint.get(), kidRightSetpoint.get()), 0.5, true));
+        kidPilot.a().whileTrue(new AmpScoreSequence(tramp, indexer, elevator));
         kidPilot.start().and(kidPilot.back()).onTrue(Commands.runOnce(drivetrain::zeroFieldOrientationManual));
 
         // TODO remove this

diff --git a/src/main/java/org/team1540/robot2024/commands/shooter/ShootSequence.java b/src/main/java/org/team1540/robot2024/commands/shooter/ShootSequence.java
@@ -23,14 +23,14 @@ public ShootSequence(Shooter shooter, Indexer indexer) {
         this(shooter, indexer, () -> HUB_SHOOT);
     }
     public ShootSequence(Shooter shooter, Indexer indexer, Supplier<ShooterSetpoint> setpoint) {
-        this(shooter, indexer, setpoint, 1);
+        this(shooter, indexer, setpoint, 1, false);
     }
-    public ShootSequence(Shooter shooter, Indexer indexer, Supplier<ShooterSetpoint> setpoint, double waitTime) {
+    public ShootSequence(Shooter shooter, Indexer indexer, Supplier<ShooterSetpoint> setpoint, double waitTime, boolean longTimeout) {
         addCommands(
                 new PrepareShooterCommand(shooter, setpoint),
                 Commands.sequence(
                         Commands.waitSeconds(waitTime),
-                        IntakeAndFeed.withDefaults(indexer).withTimeout(0.5)
+                        IntakeAndFeed.withDefaults(indexer).withTimeout(longTimeout ? 15 : 0.5)
                 )
 
                 // TODO: Add a wait for having completed the shot (steady then current spike/velocity dip and then back down?)