a

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index df354e42c89509077259a1d04b5f701a63213204..628716a65eeed3d930ca0fd0492e6472891ee059 100644 (file)
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -24,6 +24,7 @@ import frc.robot.commands.DoNothing;
 import frc.robot.commands.drive_comm.DefaultDriveCommand;
 import frc.robot.commands.gpm.AutoShootCommand;
 import frc.robot.commands.gpm.ClimbDriveCommand;
+import frc.robot.commands.gpm.Superstructure;
 import frc.robot.commands.vision.ShutdownAllPis;
 import frc.robot.constants.AutoConstants;
 import frc.robot.constants.Constants;
@@ -143,6 +144,9 @@ public class RobotContainer {
         } catch (IOException | ParseException e) {
           e.printStackTrace();
         }
+        if(turret != null){
+          turret.setDefaultCommand(new Superstructure(turret, drive, hood, shooter, spindexer));
+        }
         drive.setDefaultCommand(new DefaultDriveCommand(drive, driver));
         break;
     }

diff --git a/src/main/java/frc/robot/commands/gpm/Superstructure.java b/src/main/java/frc/robot/commands/gpm/Superstructure.java
index 73145cbcdef0aab937089a343ba791ac9a4d0f95..2feca004826c339c583e58bcbc54ccd26bfc20fb 100644 (file)
--- a/src/main/java/frc/robot/commands/gpm/Superstructure.java
+++ b/src/main/java/frc/robot/commands/gpm/Superstructure.java
@@ -78,7 +78,7 @@ public class Superstructure extends Command {
                                FieldConstants.getHubTranslation().minus(new Translation3d(drivepose.getTranslation())),
                                8.0); // Random initial goalState to prevent it being null
         
-        addRequirements(turret);
+        addRequirements(turret, shooter, hood);
     }
 
     public void updateSetpoints(Pose2d drivepose) {