From 6e428f71527f25fd9e0837f5209f78be706c6d08 Mon Sep 17 00:00:00 2001 From: nharnwal Date: Sun, 11 Feb 2024 11:55:01 -0500 Subject: [PATCH] Add turn and decrease shoot timeout for autos --- src/main/java/frc/robot/RobotContainer.java | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index b4cd7d16..7e18492e 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -102,16 +102,17 @@ public RobotContainer() { Commands.sequence( new PrepareLaunch(shooter, hopper) .withTimeout(Constants.SHOOTER_DELAY) - .andThen(new LaunchNote(shooter, hopper).withTimeout(3)), - AutoBuilder.buildAuto("Amp_Out"))); + .andThen(new LaunchNote(shooter, hopper).withTimeout(2)), + AutoBuilder.buildAuto("Amp_Out"), + new Turn(drive, Rotation2d.fromDegrees(180), true))); autoChooser.addOption( "Shoot Source Out", Commands.sequence( new PrepareLaunch(shooter, hopper) .withTimeout(Constants.SHOOTER_DELAY) - .andThen(new LaunchNote(shooter, hopper).withTimeout(3)), - AutoBuilder.buildAuto("Source_Out"))); - autoChooser.addOption("Turn", new Turn(drive, Rotation2d.fromDegrees(90), false)); + .andThen(new LaunchNote(shooter, hopper).withTimeout(2)), + AutoBuilder.buildAuto("Source_Out"), + new Turn(drive, Rotation2d.fromDegrees(180), true))); // Configure the button bindings configureButtonBindings();