auto fix

DeepBlueRobotics · Jul 21, 2024 · 9afcee7 · 9afcee7
1 parent 823c34a
commit 9afcee7
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Showing 5 changed files with 9 additions and 7 deletions.
diff --git a/src/main/deploy/pathplanner/autos/Preload1Center.auto b/src/main/deploy/pathplanner/autos/Preload1Center.auto
@@ -14,7 +14,7 @@
         {
           "type": "named",
           "data": {
-            "name": "Shoot"
+            "name": "ShootSubwoofer"
           }
         }
       ]

diff --git a/src/main/deploy/pathplanner/autos/Preload1Left.auto b/src/main/deploy/pathplanner/autos/Preload1Left.auto
@@ -14,7 +14,7 @@
         {
           "type": "named",
           "data": {
-            "name": "Shoot"
+            "name": "ShootSubwoofer"
           }
         }
       ]

diff --git a/src/main/deploy/pathplanner/autos/Preload1Right.auto b/src/main/deploy/pathplanner/autos/Preload1Right.auto
@@ -14,7 +14,7 @@
         {
           "type": "named",
           "data": {
-            "name": "Shoot"
+            "name": "ShootSubwoofer"
           }
         }
       ]

diff --git a/src/main/java/org/carlmontrobotics/RobotContainer.java b/src/main/java/org/carlmontrobotics/RobotContainer.java
@@ -376,9 +376,10 @@ private void registerAutoCommands() {
                                 new PassToOuttake(intakeShooter),
                                 new ArmToPos(arm, GROUND_INTAKE_POS)))));
         NamedCommands.registerCommand("ShootSubwoofer",
-                new SequentialCommandGroup(
-                        new ArmToPos(arm, Armc.SUBWOOFER_ANGLE_RAD),
-                        new RampRPMAuton(intakeShooter),
+                        new SequentialCommandGroup(new ParallelCommandGroup(
+                                        new ArmToPos(arm,
+                                                        Armc.SUBWOOFER_ANGLE_RAD),
+                                        new RampRPMAuton(intakeShooter)),
                         new PassToOuttake(intakeShooter),
                         new ArmToPos(arm, GROUND_INTAKE_POS)));
         NamedCommands.registerCommand("Limelight Intake CCW",

diff --git a/src/main/java/org/carlmontrobotics/commands/PassToOuttake.java b/src/main/java/org/carlmontrobotics/commands/PassToOuttake.java
@@ -42,6 +42,7 @@ public void end(boolean interrupted) {
     @Override
     public boolean isFinished() {
         return (!intakeShooter.intakeDetectsNote()
-                && !intakeShooter.outtakeDetectsNote()) || LimelightHelpers.getTV(SHOOTER_LL_NAME);
+                && !intakeShooter.outtakeDetectsNote());
+        // || !LimelightHelpers.getTV(SHOOTER_LL_NAME);
     }
 }