Added manual pivot commands and placeholer trap

Iron-Panthers · Sep 20, 2024 · e2262c9 · e2262c9
1 parent 7cfc734
commit e2262c9
Showing 1 changed file with 21 additions and 0 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -443,6 +443,27 @@ private void configureButtonBindings() {
                 .alongWith(
                     new AmpPreparationCommand(
                         pivotSubsystem, elevatorSubsystem, shooterSubsystem, intakeSubsystem)));
+
+    //PIVOT SETPOINTS
+    anthony
+        .povUp().onTrue(
+            new PivotAngleCommand(pivotSubsystem, 30));
+
+    anthony
+        .povLeft().onTrue(
+            new PivotAngleCommand(pivotSubsystem, 60));
+
+    anthony
+        .povRight().onTrue(
+            new PivotAngleCommand(pivotSubsystem, 75));
+
+    anthony
+        .povDown().onTrue(
+            new PivotAngleCommand(pivotSubsystem, 55));
+
+    //TRAP CLIMB STUFF
+    // jacob.
+    //     povCenter().onTrue();
 
     DoubleSupplier rotation =
         exponential(