From 69e31f17e1a47520c5bcc24bf0d27eff2ec0653c Mon Sep 17 00:00:00 2001 From: maxwtan <100314265+MaxwellTTan20@users.noreply.github.com> Date: Tue, 20 Jan 2026 16:51:39 -0800 Subject: [PATCH] a --- .../robot/controls/PS5ControllerDriverConfig.java | 12 ++++++++++-- .../java/frc/robot/subsystems/shooter/Shooter.java | 4 ++-- 2 files changed, 12 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java index af0afb8..1a8b8e0 100644 --- a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java +++ b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java @@ -65,8 +65,16 @@ public class PS5ControllerDriverConfig extends BaseDriverConfig { interrupted->getDrivetrain().setStateDeadband(true), ()->false, getDrivetrain()).withTimeout(2)); - driver.get(PS5Button.CIRCLE).onTrue(new InstantCommand(() -> shooter.setFeeder(ShooterConstants.FEEDER_RUN_POWER))).onFalse(new InstantCommand(() -> shooter.setFeeder(0))); - driver.get(PS5Button.TRIANGLE).onTrue(new InstantCommand(() -> shooter.setShooter(ShooterConstants.SHOOTER_VELOCITY))).onFalse(new InstantCommand(() -> shooter.setShooter(0))); + driver.get(PS5Button.LB).onTrue( + new InstantCommand(() -> { + shooter.setFeeder(ShooterConstants.FEEDER_RUN_POWER); + shooter.setShooter(ShooterConstants.SHOOTER_VELOCITY); + })).onFalse( + new InstantCommand(() -> { + shooter.setFeeder(0); + shooter.setShooter(0); + })); + //driver.get(PS5Button.TRIANGLE).onTrue(new InstantCommand(() -> shooter.setShooter(ShooterConstants.SHOOTER_VELOCITY))).onFalse(new InstantCommand(() -> shooter.setShooter(0))); driver.get(PS5Button.SQUARE).onTrue( new InstantCommand(()->{ diff --git a/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/src/main/java/frc/robot/subsystems/shooter/Shooter.java index 4ff2379..1b5919e 100644 --- a/src/main/java/frc/robot/subsystems/shooter/Shooter.java +++ b/src/main/java/frc/robot/subsystems/shooter/Shooter.java @@ -29,8 +29,8 @@ import frc.robot.constants.IdConstants; public class Shooter { - private TalonFX shooterMotorLeft = new TalonFX(IdConstants.SHOOTER_LEFT_ID, Constants.SUBSYSTEM_CANIVORE_CAN); - private TalonFX shooterMotorRight = new TalonFX(IdConstants.SHOOTER_RIGHT_ID, Constants.SUBSYSTEM_CANIVORE_CAN); + private TalonFX shooterMotorLeft = new TalonFX(IdConstants.SHOOTER_LEFT_ID, Constants.RIO_CAN); + private TalonFX shooterMotorRight = new TalonFX(IdConstants.SHOOTER_RIGHT_ID, Constants.RIO_CAN); private TalonFX feederMotor = new TalonFX(IdConstants.FEEDER_ID, Constants.RIO_CAN); -- 2.39.5