LaunchPrepare

StuyPulse · Jan 31, 2024 · 25d79e1 · 25d79e1
1 parent 6c83117
commit 25d79e1
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Showing 2 changed files with 3 additions and 2 deletions.
diff --git a/build.gradle b/build.gradle
@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1"
+    id "edu.wpi.first.GradleRIO" version "2024.2.1"
     id "com.diffplug.spotless" version "6.22.0"
 }
 

diff --git a/src/main/java/com/stuypulse/robot/RobotContainer.java b/src/main/java/com/stuypulse/robot/RobotContainer.java
@@ -7,6 +7,7 @@
 
 import com.stuypulse.robot.commands.auton.DoNothingAuton;
 import com.stuypulse.robot.commands.drivetrain.DrivetrainDrive;
+import com.stuypulse.robot.commands.launcher.LaunchPrepare;
 import com.stuypulse.robot.commands.launcher.LauncherHoldSpeed;
 import com.stuypulse.robot.commands.launcher.LauncherLaunchSpeaker;
 import com.stuypulse.robot.commands.launcher.LauncherIntakeNote;
@@ -68,7 +69,7 @@ private void configureDriverBindings() {
             .whileTrue(new LauncherIntakeNote());
 
         driver.getBottomButton()
-            .whileTrue(new LauncherLaunchSpeaker());
+            .whileTrue(new LaunchPrepare(Settings.Launcher.LAUNCHER_SPEAKER_SPEED, Settings.Launcher.SPEAKER_THRESHOLD_RPM).andThen(new LauncherLaunchSpeaker()));
     }
 
     private void configureOperatorBindings() {}