Added reverse and changed button bindings

chopshop-166 · Jan 21, 2025 · f2971dd · f2971dd
1 parent fcc291d
commit f2971dd
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Showing 2 changed files with 10 additions and 2 deletions.
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
@@ -117,8 +117,8 @@ public void configureButtonBindings() {
 
         driveController.a().onTrue(outtake.spinIn());
         driveController.b().whileTrue(outtake.spinOut());
-        driveController.x().whileTrue(outtake.spinOutL1());
-        driveController.y().whileTrue(algaeDestage.destageAlgae());
+        driveController.x().whileTrue(outtake.reverse());
+        driveController.y().whileTrue(outtake.spinOutL1());
 
     }
 

diff --git a/src/main/java/frc/robot/subsystems/Outtake.java b/src/main/java/frc/robot/subsystems/Outtake.java
@@ -14,6 +14,7 @@ public class Outtake extends LoggedSubsystem<Data, OuttakeMap> {
     private final double RELEASE_SPEEDLEFT = 0.1;
     private final double INTAKE_SPEED = 0.3;
     private final double RELEASE_DELAY = 1;
+    private final double REVERSE = -0.5;
     private final double DELAY = 0.0;
 
     public Outtake(OuttakeMap outtakeMap) {
@@ -41,6 +42,13 @@ public Command spinIn() {
         }).until(() -> getData().gamePieceDetected).andThen(safeStateCmd());
     }
 
+    public Command reverse() {
+        return runSafe(() -> {
+            getData().leftWheel.setpoint = REVERSE;
+            getData().rightWheel.setpoint = REVERSE;
+        });
+    }
+
     @Override
     public void reset() {
         safeState();