Guillotine logic #207
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Guillotine logic #207
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…will be consistent after some testing hopefully. Test on bad note first) Co-authored-by: Tina H <derp00monsta@users.noreply.github.com>
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GalexY727
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Feb 28, 2024
src/main/java/frc/robot/commands/subsytemHelpers/PieceControl.java
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| @@ -37,7 +37,7 @@ public Command outtake() { | |||
| } | |||
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| public Command outtakeSlow() { | |||
| return runOnce(() -> setSpeed(-0.1)); | |||
| return runOnce(() -> setSpeed(TrapConstants.TRAPPER_OUTTAKE_SLOW)); | |||
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| public Command setPositionCommand(double pos, boolean waitUntilStuck) { | ||
| return Commands.runOnce(() -> this.setPosition(pos)) | ||
| .andThen(Commands.waitUntil(() -> atDesiredPosition() || (waitUntilStuck && stuckOnGuillotine()))); | ||
| } |
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Consider overloading this with no boolean to default it to false
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Mainly built off of rudy's logic
Tested and worked in sim