Added options: not gonna use during competition

SaintsRobotics · Mar 10, 2024 · cce9059 · cce9059
1 parent e8b55b6
commit cce9059
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diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -74,6 +74,9 @@ 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("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
@@ -42,6 +42,10 @@ public void setShootingSpeed(ShootSpeed speed) {
         m_topSpeed = ShooterConstants.kShooterSpeedTop;
         m_bottomSpeed = ShooterConstants.kShooterSpeedBottom;
         break;
+      case Halfway:
+        m_topSpeed = ShooterConstants.kShooterSpeedTop/3;
+        m_bottomSpeed = ShooterConstants.kShooterSpeedBottom/3;
+        break;
       case Off:
         m_topSpeed = 0.0;
         m_bottomSpeed = 0.0;
@@ -65,6 +69,7 @@ public void periodic() {
 
   public static enum ShootSpeed {
     Shooting,
+    Halfway,
     Off
   }
 }