Fix this

Mechanical-Advantage · Mar 9, 2024 · 05a55ba · 05a55ba
1 parent 9c963e0
commit 05a55ba
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Showing 3 changed files with 3 additions and 1 deletion.
diff --git a/src/main/java/org/littletonrobotics/frc2024/RobotContainer.java b/src/main/java/org/littletonrobotics/frc2024/RobotContainer.java
@@ -310,6 +310,7 @@ public RobotContainer() {
                   < Units.feetToMeters(25.0)
               && rollers.getGamepieceState() == GamepieceState.SHOOTER_STAGED
               && superstructure.getCurrentGoal() != Superstructure.Goal.PREPARE_CLIMB
+              && superstructure.getCurrentGoal() != Superstructure.Goal.PREPARE_PREPARE_TRAP_CLIMB
               && superstructure.getCurrentGoal() != Superstructure.Goal.CLIMB
               && superstructure.getCurrentGoal() != Superstructure.Goal.TRAP
               && superstructure.getCurrentGoal() != Superstructure.Goal.CANCEL_PREPARE_CLIMB

diff --git a/src/main/java/org/littletonrobotics/frc2024/subsystems/rollers/backpack/Backpack.java b/src/main/java/org/littletonrobotics/frc2024/subsystems/rollers/backpack/Backpack.java
@@ -22,7 +22,7 @@ public class Backpack extends GenericRollerSystem<Backpack.Goal> {
   public enum Goal implements VoltageGoal {
     IDLING(() -> 0),
     AMP_SCORING(new LoggedTunableNumber("Backpack/AmpScoringVoltage", 12.0)),
-    TRAP_SCORING(new LoggedTunableNumber("Backpack/TrapScoringVoltage", 2.0)),
+    TRAP_SCORING(new LoggedTunableNumber("Backpack/TrapScoringVoltage", 8.0)),
     EJECTING(new LoggedTunableNumber("Backpack/EjectingVoltage", -12.0));
 
     private final DoubleSupplier voltageSupplier;

diff --git a/src/main/java/org/littletonrobotics/frc2024/subsystems/superstructure/Superstructure.java b/src/main/java/org/littletonrobotics/frc2024/subsystems/superstructure/Superstructure.java
@@ -66,6 +66,7 @@ public void periodic() {
 
     // Retract climber
     if (!climber.retracted()
+        && desiredGoal != Goal.PREPARE_PREPARE_TRAP_CLIMB
         && desiredGoal != Goal.PREPARE_CLIMB
         && desiredGoal != Goal.CLIMB
         && desiredGoal != Goal.TRAP