Reduced Auton Time

SaintsRobotics · Mar 9, 2024 · b4eedf4 · b4eedf4
1 parent ba24d02
commit b4eedf4
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Showing 2 changed files with 10 additions and 6 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -68,9 +68,9 @@ public class RobotContainer {
   public RobotContainer() {
     NamedCommands.registerCommand("Shoot",
         new SequentialCommandGroup(
-            new ShooterSetSpeedCommand(m_shooterSubsystem, ShootSpeed.Shooting),
+            new ShooterSetSpeedCommand(m_shooterSubsystem, ShootSpeed.Shooting, 1.5),
             new ParallelDeadlineGroup(new WaitCommand(1), new NoteOuttakeCommand(m_intakeSubsystem)),
-            new ShooterSetSpeedCommand(m_shooterSubsystem, ShootSpeed.Off)));
+            new ShooterSetSpeedCommand(m_shooterSubsystem, ShootSpeed.Off, 0.01)));
 
     NamedCommands.registerCommand("Intake",
         new SequentialCommandGroup(
@@ -164,9 +164,9 @@ private void configureBindings() {
     // DriveConstants.kMaxAngularSpeedRadiansPerSecond - 1, 5)));
 
     new JoystickButton(m_driverController, Button.kX.value)
-        .onTrue(new SequentialCommandGroup(new ShooterSetSpeedCommand(m_shooterSubsystem, ShootSpeed.Shooting),
+        .onTrue(new SequentialCommandGroup(new ShooterSetSpeedCommand(m_shooterSubsystem, ShootSpeed.Shooting, 1.5),
             new NoteOuttakeCommand(m_intakeSubsystem)))
-        .onFalse(new ShooterSetSpeedCommand(m_shooterSubsystem, ShootSpeed.Off));
+        .onFalse(new ShooterSetSpeedCommand(m_shooterSubsystem, ShootSpeed.Off, 0.3));
 
     new JoystickButton(m_operatorController, Button.kA.value)
         .onTrue(new InstantCommand(() -> m_climberSubsystem.forward(),

diff --git a/src/main/java/frc/robot/commands/ShooterSetSpeedCommand.java b/src/main/java/frc/robot/commands/ShooterSetSpeedCommand.java
@@ -13,15 +13,19 @@ public class ShooterSetSpeedCommand extends Command {
   ShooterSubsystem m_ShooterSubsystem;
   double m_shooterSpeed = 0;
 
+
+  double set_time = 1.5;
   Timer m_timer = new Timer();
 
   ShootSpeed m_shootSpeed;
 
   /** Creates a new ShootCommand. */
-  public ShooterSetSpeedCommand(ShooterSubsystem shooterSubsystem, ShootSpeed shootSpeed) {
+  public ShooterSetSpeedCommand(ShooterSubsystem shooterSubsystem, ShootSpeed shootSpeed, double time) {
     m_ShooterSubsystem = shooterSubsystem;
     addRequirements(m_ShooterSubsystem);
 
+    set_time = time;
+
     m_shootSpeed = shootSpeed;
   }
 
@@ -47,6 +51,6 @@ public void end(boolean interrupted) {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return m_timer.get() > 1.5;
+    return m_timer.get() > set_time;
   }
 }