removed wait command for controller outtake (#37)

* removed wait command for controller outtake * Quadratic scaling on rotation
SaintsRobotics · Mar 23, 2024 · e44f2a9 · e44f2a9
1 parent 58d7ed9
commit e44f2a9
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -151,7 +151,7 @@ public RobotContainer() {
                         * IOConstants.kSlowModeScalar),
                 // * 0.8,
                 MathUtil.applyDeadband(
-                    -m_driverController.getRightX(),
+                    -m_driverController.getRightX() * Math.abs(m_driverController.getRightX()),
                     IOConstants.kControllerDeadband)
                     * DriveConstants.kMaxAngularSpeedRadiansPerSecond
                     * (1 - m_driverController
@@ -210,7 +210,7 @@ private void configureBindings() {
     // Outtake, Operator Controller Right Trigger
     new Trigger(() -> {
       return m_operatorController.getRightTriggerAxis() > 0.5;
-    }).whileTrue(new ParallelDeadlineGroup(new WaitCommand(1), new NoteOuttakeCommand(m_intakeSubsystem)));
+    }).whileTrue(new NoteOuttakeCommand(m_intakeSubsystem));
 
     new Trigger(() -> {
       return m_operatorController.getLeftTriggerAxis() > 0.5;