copied 2023

DeepBlueRobotics · Mar 2, 2024 · cbd88d6 · cbd88d6
1 parent 9d871f8
commit cbd88d6
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Showing 2 changed files with 187 additions and 144 deletions.
diff --git a/src/main/java/org/carlmontrobotics/RobotContainer.java b/src/main/java/org/carlmontrobotics/RobotContainer.java
@@ -7,6 +7,7 @@
 // import org.carlmontrobotics.subsystems.*;
 import org.carlmontrobotics.commands.*;
 import static org.carlmontrobotics.Constants.OI;
+import static org.carlmontrobotics.Constants.Arm.ampAngle;
 
 import org.carlmontrobotics.Constants.OI;
 import org.carlmontrobotics.commands.ArmTeleop;
@@ -77,7 +78,7 @@ private void setBindingsManipulator() {
     new JoystickButton(manipulatorController, Constants.Arm.raiseToSpeakerNextButton).onTrue(new InstantCommand(() -> {arm.cancelArmCommand(); new armNextToSpeakerPos(arm);}));
     new JoystickButton(manipulatorController, Constants.Arm.raiseToSpeakerSafeButton).onTrue(new InstantCommand(() -> {arm.cancelArmCommand(); new armSafeZonePos(arm);}));
     // Amp and Intake Buttons
-    new JoystickButton(manipulatorController, Constants.Arm.raiseToAmpButton).onTrue(new InstantCommand(() -> {arm.cancelArmCommand(); new armAmpPos(arm);}));
+    new JoystickButton(manipulatorController, Constants.Arm.raiseToAmpButton).onTrue(new InstantCommand(() -> {arm.driveArm(ampAngle)));
     new JoystickButton(manipulatorController, Constants.Arm.raiseToGroundButton).onTrue(new InstantCommand(() -> {arm.cancelArmCommand(); new armGroundPos(arm);}));
     // Cimber Buttons
     new JoystickButton(manipulatorController, Constants.Arm.raiseToClimberButton).onTrue(new InstantCommand(() -> {arm.cancelArmCommand(); new armClimberUpPos(arm);}));