From 80bf5465fb024d43a35b47fb02d9fe2df407836f Mon Sep 17 00:00:00 2001
From: ProgrammingSR <programming@saintsrobotics.com>
Date: Mon, 11 Mar 2024 18:19:13 -0700
Subject: [PATCH] WIP

---
 .../pathplanner/autos/4-Center-Stays.auto     | 22 ++++---------------
 src/main/java/frc/robot/Constants.java        |  2 +-
 src/main/java/frc/robot/RobotContainer.java   | 12 ++++++++--
 .../robot/subsystems/ShooterSubsystem.java    |  8 +++----
 4 files changed, 19 insertions(+), 25 deletions(-)

diff --git a/src/main/deploy/pathplanner/autos/4-Center-Stays.auto b/src/main/deploy/pathplanner/autos/4-Center-Stays.auto
index 8ac0f0a..1cdbc94 100644
--- a/src/main/deploy/pathplanner/autos/4-Center-Stays.auto
+++ b/src/main/deploy/pathplanner/autos/4-Center-Stays.auto
@@ -22,16 +22,9 @@
           "data": {
             "commands": [
               {
-                "type": "sequential",
+                "type": "path",
                 "data": {
-                  "commands": [
-                    {
-                      "type": "path",
-                      "data": {
-                        "pathName": "CenterNote-Center"
-                      }
-                    }
-                  ]
+                  "pathName": "CenterNote-Center"
                 }
               },
               {
@@ -60,16 +53,9 @@
           "data": {
             "commands": [
               {
-                "type": "sequential",
+                "type": "path",
                 "data": {
-                  "commands": [
-                    {
-                      "type": "path",
-                      "data": {
-                        "pathName": "LeftNote-Center"
-                      }
-                    }
-                  ]
+                  "pathName": "LeftNote-Center"
                 }
               },
               {
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index db00259..4b205ef 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -120,7 +120,7 @@ public static final class ShooterConstants {
     public static final int kBottomShooterMotorPort = 35;
     public static final double kShooterSpeedTop = 0.8;
     public static final double kShooterSpeedBottom = 0.9;
-    public static final double kPreShooterSpeed = 0.4;
+    public static final double kPrepShooterSpeed = 0.6;
     public static final double kShooterOff = 0;
 
     public static final double kShooterOffTime = 0.04; 
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 21cfc10..8a8c56c 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -76,8 +76,16 @@ public RobotContainer() {
             new NoteIntakeCommand(m_intakeSubsystem),
             new IntakeArmPositionCommand(m_intakeSubsystem, ArmPosition.Retracted)));
 
-    NamedCommands.registerCommand("Pre-Speed - 30%",
-      new ShooterSetSpeedCommand(m_shooterSubsystem, ShootSpeed.Halfway, 0.01));
+    NamedCommands.registerCommand("Prep-Speed - 60%",
+      new ShooterSetSpeedCommand(m_shooterSubsystem, ShootSpeed.Prep, 0.01));
+
+    NamedCommands.registerCommand("Spin up Shooter",
+      new ShooterSetSpeedCommand(m_shooterSubsystem, ShootSpeed.Shooting, 0.01));
+
+    NamedCommands.registerCommand("Spin down Shooter",
+      new ShooterSetSpeedCommand(m_shooterSubsystem, ShootSpeed.Off, 0.01));
+
+    NamedCommands.registerCommand("Outtake", new NoteOuttakeCommand(m_intakeSubsystem));
 
     NamedCommands.registerCommand("Intake in",
         new IntakeArmPositionCommand(m_intakeSubsystem, ArmPosition.Retracted));
diff --git a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java
index 3e0ccb9..f54afd1 100644
--- a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java
@@ -42,9 +42,9 @@ public void setShootingSpeed(ShootSpeed speed) {
         m_topSpeed = ShooterConstants.kShooterSpeedTop;
         m_bottomSpeed = ShooterConstants.kShooterSpeedBottom;
         break;
-      case Halfway:
-        m_topSpeed = ShooterConstants.kPreShooterSpeed;
-        m_bottomSpeed = ShooterConstants.kPreShooterSpeed;
+      case Prep:
+        m_topSpeed = ShooterConstants.kPrepShooterSpeed;
+        m_bottomSpeed = ShooterConstants.kPrepShooterSpeed;
         break;
       case Off:
         m_topSpeed = 0.0;
@@ -69,7 +69,7 @@ public void periodic() {
 
   public static enum ShootSpeed {
     Shooting,
-    Halfway,
+    Prep,
     Off
   }
 }