Add practice field changes

team4909 · Mar 2, 2025 · 3f5d2b2 · 3f5d2b2
1 parent a2c15f0
commit 3f5d2b2
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Showing 3 changed files with 12 additions and 5 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -195,7 +195,14 @@ private void configureBindings() {
         // new Rotation2d(-joystick.getLeftY(), -joystick.getLeftX()))));
 
         joystick.rightTrigger().whileTrue(s_Shooter.shootTrough()).onFalse(s_Shooter.stop());
-        joystick.y().whileTrue(s_Shooter.intake()).onFalse(s_Shooter.stop());
+        // joystick.rightTrigger().whileTrue(
+        //         if (s_Elevator.getCurrentCommand.equals(s_Elevator.goToL4())) {
+        //         s_Shooter.shootTrough();
+        // }
+        // else {
+        //         s_Shooter.shootL4();
+        // }).onFalse(s_Shooter.stop());
+        joystick.y().whileTrue(s_Shooter.shoot()).onFalse(s_Shooter.stop());
         joystick.a().whileTrue(s_Climber.lower()).onFalse(s_Climber.stop());
 
         joystick.b().onTrue(s_Elevator.goToL1()).onFalse(s_Elevator.stop());

diff --git a/src/main/java/frc/robot/subsystems/elevator/Elevator.java b/src/main/java/frc/robot/subsystems/elevator/Elevator.java
@@ -18,8 +18,8 @@ public class Elevator extends SubsystemBase {
 
     private final ElevatorIO m_io;
     private final double L1Setpoint = 29;
-    private final double L2Setpoint = 36.5;//38.5
-    private final double L3Setpoint = 51.5;
+    private final double L2Setpoint = 35.5;//38.5
+    private final double L3Setpoint = 51;
     private final double L4Setpoint = 77; // 74.5 and 78 dp on feb 1
     private final double L2ASetpoint = 48.5; 
     private final double L3ASetpoint = 64.5;

diff --git a/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
@@ -10,8 +10,8 @@ public Shooter(ShooterIO io) {
     m_io = io;
   }
 
-  public Command shootL4() {
-    return this.run(() -> m_io.setSpeed(-0.3));
+  public Command shoot() {
+    return this.run(() -> m_io.setSpeed(-0.2));
   }
 
   public Command shootTrough() {