Merge branch '82-shintake' of github.com:FRC-Team-620/Warbots2024 int…

…o 82-shintake
FRC-Team-620 · Mar 28, 2024 · d5a440d · d5a440d
2 parents 26a3701 + b889783
commit d5a440d
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Showing 2 changed files with 3 additions and 17 deletions.
diff --git a/src/main/java/org/jmhsrobotics/frc2024/RobotContainer.java b/src/main/java/org/jmhsrobotics/frc2024/RobotContainer.java
@@ -142,9 +142,6 @@ public RobotContainer() {
 				new ArmVision(armSubsystem, visionSubsystem, driveSubsystem).until(armSubsystem::atGoal)); // TODO:
 																											// Handle
 																											// End
-		// // condition
-		// SmartDashboard.putData("RedLED", new setRedLEDCommand(ledSubsystem,
-		// intakeSubsystem));
 		SmartDashboard.putData("ArmVision", new ArmVision(armSubsystem, visionSubsystem, driveSubsystem));
 		SmartDashboard.putData("Lock Speaker", new LockSpeaker(driveSubsystem, visionSubsystem));
 
@@ -155,17 +152,6 @@ private void configureDriverFeedback() {
 				.onTrue(new ParallelCommandGroup(new RumbleTimeCommand(control, RumbleType.kLeftRumble, 1, 1),
 						new setBlueLEDCommand(ledSubsystem, this.shintakeSubsystem)));
 
-		// new Trigger(this.defaultIntakeCommand::isScheduled)
-		// .onTrue(new FlashingLEDCommand(ledSubsystem, intakeSubsystem));
-		// new Trigger(intakeSubsystem::isIntaking).onTrue(new
-		// FlashingLEDCommand(ledSubsystem, intakeSubsystem));
-
-		// new Trigger(intakeSubsystem.getCurrentCommand()==new
-		// DefaultIntakeCommand(this.intakeSubsystem, this.shooterSubsystem)).onTrue(new
-		// FlashingLEDCommand(ledSubsystem, intakeSubsystem));
-		// new Trigger(this.defaultIntakeCommand::isScheduled)
-		// .onTrue(new FlashingLEDCommand(ledSubsystem, intakeSubsystem));
-
 		new Trigger(shintakeSubsystem::noteTooHigh).onTrue(new setRedLEDCommand(ledSubsystem, shintakeSubsystem));
 
 		new Trigger(shintakeSubsystem::shooterAtGoal)

diff --git a/src/main/java/org/jmhsrobotics/frc2024/subsystems/shintake/commands/ShooterAutoCommand.java b/src/main/java/org/jmhsrobotics/frc2024/subsystems/shintake/commands/ShooterAutoCommand.java
@@ -23,13 +23,13 @@ public ShooterAutoCommand(ShintakeSubsystem shintakeSubsystem, double targetRPM)
 
 	@Override
 	public void execute() {
-		this.shintakeSubsystem.setShooterGoal(-1, ControlType.VOLTAGE);
+		this.shintakeSubsystem.setShooterGoal(this.targetRPM, ControlType.VOLTAGE);
 	}
 
 	@Override
 	public boolean isFinished() {
-		// return this.shooterSubsystem.atGoal();
-		return false;
+		return this.shintakeSubsystem.shooterAtGoal();
+		// return false;
 
 	}