stop shoot after auto shot, change autoaim angle to 30 deg from 35 deg

team5115 · Oct 16, 2024 · 64aafa0 · 64aafa0
1 parent 3b62d34
commit 64aafa0
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diff --git a/src/main/java/frc/team5115/RobotContainer.java b/src/main/java/frc/team5115/RobotContainer.java
@@ -200,7 +200,7 @@ private void configureButtonBindings() {
                 .leftBumper()
                 .onTrue(
                         DriveCommands.automaticallyPrepareShoot(drivetrain, arm, intake, feeder, shooter)
-                                .andThen(DriveCommands.feed(intake, feeder)));
+                                .andThen(DriveCommands.feed(intake, feeder), shooter.stop()));
     }
 
     public void robotPeriodic() {

diff --git a/src/main/java/frc/team5115/commands/DriveCommands.java b/src/main/java/frc/team5115/commands/DriveCommands.java
@@ -27,7 +27,7 @@ public static Command automaticallyPrepareShoot(
             Drivetrain drivetrain, Arm arm, Intake intake, Feeder feeder, Shooter shooter) {
         return drivetrain
                 .faceSpeaker()
-                .alongWith(prepareShoot(arm, intake, feeder, shooter, 35.0, 5000))
+                .alongWith(prepareShoot(arm, intake, feeder, shooter, 30.0, 5000))
                 .withInterruptBehavior(InterruptionBehavior.kCancelSelf);
     }