From 25d79e18694925f01b375c7398650855b59007b8 Mon Sep 17 00:00:00 2001 From: colyic Date: Wed, 31 Jan 2024 17:24:17 -0500 Subject: [PATCH] LaunchPrepare --- build.gradle | 2 +- src/main/java/com/stuypulse/robot/RobotContainer.java | 3 ++- 2 files changed, 3 insertions(+), 2 deletions(-) diff --git a/build.gradle b/build.gradle index 69828b8..90939e1 100644 --- 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 index 057b4f9..9711c08 100644 --- 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() {}