Add a slow button for shooting in the trough

team4909 · Jan 8, 2025 · d358c9a · d358c9a
1 parent 786f31f
commit d358c9a
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Showing 2 changed files with 9 additions and 3 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -80,7 +80,10 @@ private void configureBindings() {
                     point.withModuleDirection(
                         new Rotation2d(-joystick.getLeftY(), -joystick.getLeftX()))));
 
-    joystick.x().whileTrue(s_Shooter.shoot()).onFalse(s_Shooter.stop());
+    joystick.x().whileTrue(s_Shooter.shootL2()).onFalse(s_Shooter.stop());
+    joystick.y().whileTrue(s_Shooter.intake()).onFalse(s_Shooter.stop());
+    joystick.a().whileTrue(s_Shooter.shootTrough()).onFalse(s_Shooter.stop());
+
 
     // Run SysId routines when holding back/start and X/Y.
     // Note that each routine should be run exactly once in a single log.

diff --git a/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
@@ -7,14 +7,17 @@ public class Shooter extends SubsystemBase {
   private final ShooterIO m_io;
 
   public Shooter(ShooterIO io) {
-    System.out.println("Constructor");
     m_io = io;
   }
 
-  public Command shoot() {
+  public Command shootL2() {
     return this.run(() -> m_io.setSpeed(-0.3));
   }
 
+  public Command shootTrough() {
+    return this.run(() -> m_io.setSpeed(-0.1));
+  }
+
   public Command stop() {
     return this.run(() -> m_io.setSpeed(0));
   }