added so,mething

Team334 · Mar 14, 2024 · 2332308 · 2332308
1 parent c4bcfce
commit 2332308
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Showing 2 changed files with 5 additions and 4 deletions.
diff --git a/src/main/java/frc/robot/commands/shooter/AutonShoot.java b/src/main/java/frc/robot/commands/shooter/AutonShoot.java
@@ -44,11 +44,12 @@ public AutonShoot(
     addCommands(
       // Parallel command group that aims, revs, and squeezes note. ONLY APPLIES TO PRELOADED NOTE.
       new ParallelCommandGroup(
-        new SpinShooter(shooter, ShooterState.SHOOT).withTimeout(3),
-        new AutoAim(shooter, elevator, leds, swerve, Presets.CLOSE_SHOOTER_ANGLE, Presets.CLOSE_ELEVATOR_HEIGHT, this::headingPreset).withTimeout(2),
-        new FeedActuate(intake, FeedMode.INTAKE).withTimeout(4)
+        new SpinShooter(shooter, ShooterState.SHOOT).withTimeout(2),
+        new AutoAim(shooter, elevator, leds, swerve, Presets.CLOSE_SHOOTER_ANGLE, Presets.CLOSE_ELEVATOR_HEIGHT, this::headingPreset).withTimeout(3),
+        new FeedActuate(intake, FeedMode.INTAKE).withTimeout(1)
       ).onlyIf(() -> !_preloadShot).andThen(() -> _preloadShot = true),
 
+      new FeedActuate(intake, FeedMode.INTAKE).onlyIf(() -> _preloadShot).withTimeout(1),
       new FeedActuate(intake, FeedMode.OUTTAKE).withTimeout(1),
       new SpinShooter(shooter, ShooterState.NONE, true)
     );

diff --git a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java
@@ -50,7 +50,7 @@ public ShooterSubsystem() {
     NeoConfig.configureFollowerNeo(_rightMotor, _leftMotor, true);
 
     TalonFXConfig.configureFalcon(_angleMotor, true);
-    _angleMotor.setPosition(69 * Constants.Physical.SHOOTER_ANGLE_GEAR_RATIO / 360);
+    _angleMotor.setPosition(0  * Constants.Physical.SHOOTER_ANGLE_GEAR_RATIO / 360);
     // _angleMotor.setPosition(0);
 
     // soft limits