added buttons 👍

diff --git a/src/main/java/frc/robot/commands/gpm/Superstructure.java b/src/main/java/frc/robot/commands/gpm/Superstructure.java
index 9749b41ab8f79766241061046c6837015d4963a5..fc709d5626d85256f12c6779796aef65cb19acb4 100644 (file)
--- a/src/main/java/frc/robot/commands/gpm/Superstructure.java
+++ b/src/main/java/frc/robot/commands/gpm/Superstructure.java
@@ -14,6 +14,7 @@ import edu.wpi.first.math.kinematics.ChassisSpeeds;
 import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.InstantCommand;
 import frc.robot.constants.Constants;
 import frc.robot.constants.FieldConstants;
 import frc.robot.constants.ShotInterpolation;
@@ -250,7 +251,11 @@ public class Superstructure extends Command {
 
         turretOffset = SmartDashboard.getNumber("OPERATOR: Turret Offset", turretOffset);
         SmartDashboard.putNumber("OPERATOR: Turret Offset", turretOffset);
-        
+        SmartDashboard.putData("Hood: Shoot Higher", new InstantCommand(() -> bumpUpHoodOffset()));
+        SmartDashboard.putData("Hood: Shoot Lower", new InstantCommand(() -> bumpDownHoodOffset()));
+        SmartDashboard.putData("Turret: Aim Left", new InstantCommand(() -> bumpUpTurretOffset()));
+        SmartDashboard.putData("Turret: Aim Right", new InstantCommand(() -> bumpDownTurretOffset()));
+
         // Phase manager stuff
         phaseManager.update(drivepose, shooter, turret);
         target = phaseManager.getTarget(drivepose);

diff --git a/src/main/java/frc/robot/constants/ShuttleInterpolation.java b/src/main/java/frc/robot/constants/ShuttleInterpolation.java
index 53ff569ad3e59e77e718b420c38464048c4ecdf6..0c4bd2ae1b7a241e8adb4b44e94d8d88dcc9d4b6 100644 (file)
--- a/src/main/java/frc/robot/constants/ShuttleInterpolation.java
+++ b/src/main/java/frc/robot/constants/ShuttleInterpolation.java
@@ -24,12 +24,9 @@ public class ShuttleInterpolation {
         shooterVelocityMap.put(11.4, 28.1); // was 25.2 before
         shooterVelocityMap.put(16.54, 33.8); // untested
         
-
-
         // always shoot at low angle to ground.
         newHoodMap.put(0.0, 60.0);
         newHoodMap.put(27.99, 60.0);
-        
     }
 
 }