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+ "pathName": "Full Left Path"
}
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]
--- /dev/null
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private boolean seizing;
public void registerCommands() {
+
if (intake != null) {
- NamedCommands.registerCommand("Extend Intake", new InstantCommand(() -> intake.extend()));
+
+ NamedCommands.registerCommand("Extend Intake", new InstantCommand(() -> {
+ intake.extend();
+ System.out.println(
+ "============================================================================================================================extending");
+ }));
NamedCommands.registerCommand("Retract Intake", new InstantCommand(() -> intake.retract()));
NamedCommands.registerCommand("Intermediate Extend", new InstantCommand(() -> intake.intermediateExtend()));
NamedCommands.registerCommand("Spin Intake Rollers", new InstantCommand(() -> intake.spinStart()));
}));
}
- // if (intake != null && spindexer != null){
- // NamedCommands.registerCommand("Spin Intake Rollers", new ParallelCommandGroup(
- // new InstantCommand(()->intake.spin(IntakeConstants.SPEED))
- // ));
- // NamedCommands.registerCommand("Stop Intake Rollers", new ParallelCommandGroup(
- // new InstantCommand(()->intake.spinStop())
- // ));
+ // if (intake != null && spindexer != null){
+ // NamedCommands.registerCommand("Spin Intake Rollers", new
+ // ParallelCommandGroup(
+ // new InstantCommand(()->intake.spin(IntakeConstants.SPEED))
+ // ));
+ // NamedCommands.registerCommand("Stop Intake Rollers", new
+ // ParallelCommandGroup(
+ // new InstantCommand(()->intake.spinStop())
+ // ));
// }
- if (turret != null && drive != null && hood != null && shooter != null && spindexer != null){
+ if (turret != null && drive != null && hood != null && shooter != null && spindexer != null) {
Command runSpindexer = new RunSpindexer(spindexer, turret);
NamedCommands.registerCommand("Auto shoot", new AutoShootCommand(turret, drive, hood, shooter, spindexer));
NamedCommands.registerCommand("Auto shoot", new AutoShootCommand(turret, drive, hood, shooter, spindexer));
}
if (hood != null) {
+
NamedCommands.registerCommand("Hood Down", new InstantCommand(() -> {
hood.forceHoodDown(true);
}));
NamedCommands.registerCommand("Stop Hood Down", new InstantCommand(() -> {
hood.forceHoodDown(false);
+ Logger.recordOutput("hello", true);
}));
}
private boolean calibrating = false;
private Debouncer calibrateDebouncer = new Debouncer(0.5, DebounceType.kRising);
- private boolean forceHoodDown = false;
+ private boolean forceHoodDown = true;
private HoodIOInputsAutoLogged inputs = new HoodIOInputsAutoLogged();