From f074f4f07a4e70dca1b79b1da6f04eb8700e9e77 Mon Sep 17 00:00:00 2001 From: superpenguin612 <74030080+superpenguin612@users.noreply.github.com> Date: Thu, 21 Mar 2024 22:40:11 -0400 Subject: [PATCH] Trigger LEDs at start of note lift sequence, disable lock to line --- src/main/java/frc/robot/RobotCommands.java | 8 ++------ 1 file changed, 2 insertions(+), 6 deletions(-) diff --git a/src/main/java/frc/robot/RobotCommands.java b/src/main/java/frc/robot/RobotCommands.java index 6831e53..35dfcc7 100644 --- a/src/main/java/frc/robot/RobotCommands.java +++ b/src/main/java/frc/robot/RobotCommands.java @@ -122,10 +122,10 @@ public static Command shootOnTheMoveCommand(Drivetrain drivetrain, Intake intake public static Command intakeToNoteLift(Shooter shooter, ShooterTilt shooterTilt, NoteLift noteLift, LEDs leds) { // proxying to allow shooterTilt to hold position while note lift moves down return Commands.sequence( + new ScheduleCommand(leds.requestStateCommand(LEDState.FLASHING_WHITE).withTimeout(5)), new ScheduleCommand(shooter.stopCommand()), shooterTilt.moveToPositionCommand(() -> ShooterTiltPosition.CLIMB).asProxy(), - noteLift.moveToPositionCommand(() -> NoteLiftPosition.INTAKE).asProxy(), - leds.requestStateCommand(LEDState.FLASHING_WHITE)); + noteLift.moveToPositionCommand(() -> NoteLiftPosition.INTAKE).asProxy()); } public static Command prepareClimb(DoubleSupplier xSpeedSupplier, DoubleSupplier ySpeedSupplier, @@ -134,10 +134,6 @@ public static Command prepareClimb(DoubleSupplier xSpeedSupplier, DoubleSupplier NoteLift noteLift) { return Commands.parallel( new ScheduleCommand(shooter.stopCommand()), - drivetrain.targetStageCommand(xSpeedSupplier, ySpeedSupplier) - .unless(GlobalStates.DRIVETRAIN_TARGETTING_DISABLED::enabled) - .until(GlobalStates.DRIVETRAIN_TARGETTING_DISABLED::enabled) - .andThen(drivetrain.teleopDriveCommand(xSpeedSupplier, ySpeedSupplier, thetaSpeedSupplier)), shooterTilt.moveToPositionCommand(() -> ShooterTiltPosition.CLIMB).asProxy(), intake.moveToPositionCommand(() -> IntakePosition.GROUND).asProxy(), noteLift.moveToPositionCommand(() -> NoteLiftPosition.CLIMB_PREP).asProxy(),