From 52ef4698e6d29cfe8fd304bad988adc998d758e2 Mon Sep 17 00:00:00 2001 From: Wesley28w Date: Sun, 15 Mar 2026 07:45:38 -0700 Subject: [PATCH] I think these changes for hood are already used just unpushed from main comp computer, also added smartdashboard for testing --- src/main/java/frc/robot/RobotContainer.java | 2 +- .../java/frc/robot/controls/PS5ControllerDriverConfig.java | 2 +- src/main/java/frc/robot/subsystems/hood/Hood.java | 4 +++- 3 files changed, 5 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 977e7bc..0b1dfce 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -228,7 +228,7 @@ public class RobotContainer { // } if (turret != null && drive != null && hood != null && shooter != null && spindexer != null) { - Command runSpindexer = new RunSpindexer(spindexer, turret); + Command runSpindexer = new RunSpindexer(spindexer, turret, hood); NamedCommands.registerCommand("Auto shoot", new AutoShootCommand(turret, drive, hood, shooter, spindexer)); NamedCommands.registerCommand("Start Spindexer", new InstantCommand(() -> CommandScheduler.getInstance().schedule(runSpindexer))); diff --git a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java index abc8eb7..76c981b 100644 --- a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java +++ b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java @@ -145,7 +145,7 @@ public class PS5ControllerDriverConfig extends BaseDriverConfig { // Toggle spindexer controller.get(PS5Button.LEFT_TRIGGER).toggleOnTrue( - new RunSpindexer(spindexer, turret) + new RunSpindexer(spindexer, turret, hood) ); } diff --git a/src/main/java/frc/robot/subsystems/hood/Hood.java b/src/main/java/frc/robot/subsystems/hood/Hood.java index a50b239..a0c2842 100644 --- a/src/main/java/frc/robot/subsystems/hood/Hood.java +++ b/src/main/java/frc/robot/subsystems/hood/Hood.java @@ -64,7 +64,9 @@ public class Hood extends SubsystemBase implements HoodIO { SmartDashboard.putData("max", new InstantCommand(() -> setFieldRelativeTarget(new Rotation2d(Units.degreesToRadians(HoodConstants.MAX_ANGLE)), 0))); SmartDashboard.putData("medium", new InstantCommand(() -> setFieldRelativeTarget(new Rotation2d(Units.degreesToRadians((HoodConstants.MAX_ANGLE + HoodConstants.MIN_ANGLE) / 2)), 0))); SmartDashboard.putData("min", new InstantCommand(() -> setFieldRelativeTarget(new Rotation2d(Units.degreesToRadians(HoodConstants.MIN_ANGLE)), 0))); - } + SmartDashboard.putData("force hood down", new InstantCommand(() -> forceHoodDown(true))); + SmartDashboard.putData("unforce hood", new InstantCommand(() -> forceHoodDown(false))); + } /** * @return Position of the MOTOR in radians -- 2.39.5