Toyotathon DP

team4909 · Feb 18, 2025 · 0ada803 · 0ada803
1 parent 4ac77a3
commit 0ada803
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Showing 3 changed files with 7 additions and 7 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -222,12 +222,12 @@ private void configureBindings() {
         //         new Transform2d(Units.inchesToMeters(-4.5), Units.inchesToMeters(13.5), new Rotation2d())));
         joystick.povDown().onTrue(s_Algae.reZero());
 
-        joystick.b().whileTrue(new ReefBranchAlign(drivetrain,
+        joystick.b().whileTrue(Commands.parallel(new ReefBranchAlign(drivetrain,
                 new Transform2d(Units.inchesToMeters(-4.5), Units.inchesToMeters(0.5+2.25), new Rotation2d()),
-                () -> -joystick.getLeftY()));
-        joystick.x().whileTrue(new ReefBranchAlign(drivetrain,
+                () -> -joystick.getLeftY()), s_Shooter.shootTrough())).onFalse(s_Shooter.stop());
+        joystick.x().whileTrue(Commands.parallel(new ReefBranchAlign(drivetrain,
                 new Transform2d(Units.inchesToMeters(-4.5), Units.inchesToMeters(13.5+2.25), new Rotation2d()),
-                () -> -joystick.getLeftY()));
+                () -> -joystick.getLeftY()),s_Shooter.shootTrough())).onFalse(s_Shooter.stop());
 
         // joystick.x().whileTrue(new DriveToPose( new Pose2d(
         // Units.inchesToMeters(144.003)-Units.inchesToMeters(13),

diff --git a/src/main/java/frc/robot/subsystems/elevator/Elevator.java b/src/main/java/frc/robot/subsystems/elevator/Elevator.java
@@ -19,10 +19,10 @@ public class Elevator extends SubsystemBase {
     private final ElevatorIO m_io;
     private final double L1Setpoint = 29;
     private final double L2Setpoint = 38.5;//32.5
-    private final double L3Setpoint = 54;
+    private final double L3Setpoint = 51.5;
     private final double L4Setpoint = 77; // 74.5 and 78 dp on feb 1
     private final double L2ASetpoint = 48.5; 
-    private final double L3ASetpoint = 62.5;
+    private final double L3ASetpoint = 64.5;
     // private final double L1Setpoint = 1;
     // private final double L2Setpoint = 2;//32.5
     // private final double L3Setpoint = 3;

diff --git a/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
@@ -10,7 +10,7 @@ public Shooter(ShooterIO io) {
     m_io = io;
   }
 
-  public Command shootL2() {
+  public Command shootL4() {
     return this.run(() -> m_io.setSpeed(-0.3));
   }