minor subsystem changesHEADmaster

1 files changed, 18 insertions, 16 deletions

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 9a6241a..40a0180 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -35,8 +35,9 @@ public class RobotContainer
         m_chooser.addOption("Shoot", 
             Commands.parallel(
                 m_shooter.run(() -> m_shooter.atPercentage(1)), 
-                Commands.none().withTimeout(500).andThen(m_intake.run(() -> m_intake.atPercentage(1)))));
+                Commands.none().withTimeout(2000).andThen(m_intake.run(() -> m_intake.atPercentage(1)).withTimeout(3000))));
         SmartDashboard.putData(m_chooser);
+
         configureBindings();
     }
 
@@ -68,19 +69,20 @@ public class RobotContainer
 
     private void configureBindings() 
     {   
-        m_shooter.setDefaultCommand(m_shooter.run(() -> m_shooter.atPercentage(0.0)));
+        m_shooter.setDefaultCommand(m_shooter.run(() -> m_shooter.atPercentage(-0.2)));
         m_intake.setDefaultCommand(m_intake.run(() -> m_intake.atPercentage(0.0)));
         m_hooks.setDefaultCommand(m_hooks.run(() -> m_hooks.atPercentage(
             deadzone(-0.1, 0.1, m_controller2.getRawAxis(4)), 
             deadzone(-0.1, 0.1, m_controller2.getRawAxis(5)))));
 
-        // m_mech.setDefaultCommands(
-        //     m_mech.m_arm.run(() -> m_mech.m_arm.incrementAngle(
-        //         deadzone(-0.05, 0.05, m_controller2.getRawAxis(2)) * 0.3)) ,
-        //     m_mech.m_chain.run(() -> m_mech.m_chain.atPercentage(
-        //         m_controller2.getRawAxis(0)
-        //         * (-0.5) + 0.5))
-        // );
+        m_mech.setDefaultCommands(
+            m_mech.m_arm.run(() -> m_mech.m_arm.incrementAngle(
+                deadzone(-0.05, 0.05, m_controller2.getRawAxis(2)) * 0.05)) ,
+            m_mech.m_chain.run(() -> m_mech.m_chain.atPercentage(
+                m_controller2.getRawAxis(0)
+                * (-0.5) + 0.5))
+        );
+
         m_mech.setDefaultCommand(m_mech.run(() -> m_mech.toState(MechCmd.MANUAL).execute()));
 
         m_drive.setDefaultCommand(m_drive.run(() -> {
@@ -88,8 +90,8 @@ public class RobotContainer
                     m_controller1.getRawAxis(2),
                     m_controller1.getRawAxis(1));
             m_drive.tank(
-                inputs[0] * Constants.DriveMaxSpeed,
-                inputs[1] * Constants.DriveMaxSpeed);
+                -inputs[1] * Constants.DriveMaxSpeed,   // reversed inputs
+                -inputs[0] * Constants.DriveMaxSpeed);
         }));
 
 
@@ -102,12 +104,12 @@ public class RobotContainer
 
         // new Trigger(() -> m_controller.getRawAxis(6) > 0).whileTrue(m_drive.followTrajectory(trajectory));
 
-        new Trigger(() -> m_controller1.getRawAxis(6) > 0).whileTrue(m_intake.run(() -> m_intake.atPercentage(0.3)));
-        new Trigger(() -> m_controller1.getRawAxis(4) > 0).whileTrue(m_intake.run(() -> m_intake.shoot()));
-        new Trigger(() -> m_controller1.getRawAxis(7) > 0).whileTrue(m_shooter.run(() -> m_shooter.atPercentage(1)));
-        new Trigger(() -> m_controller1.getRawAxis(5) > 0).whileTrue(m_intake.run(() -> m_intake.atPercentage(0.6)));
+        new Trigger(() -> m_controller2.getRawButton(1)).whileTrue(m_intake.run(() -> m_intake.atPercentage(-0.1)));
+        new Trigger(() -> m_controller1.getRawAxis(5) > 0).whileTrue(m_intake.run(() -> m_intake.shoot()));
+        new Trigger(() -> m_controller1.getRawAxis(6) > 0).whileTrue(m_shooter.run(() -> m_shooter.atPercentage(1)));
+        new Trigger(() -> m_controller1.getRawAxis(7) > 0).whileTrue(m_intake.run(() -> m_intake.atPercentage(1)));
+        new Trigger(() -> m_controller2.getRawButton(2)).whileTrue(m_intake.run(() -> m_intake.atPercentage(0.2)));
 
-        new Trigger(() -> m_controller2.getRawButton(1)).whileTrue(m_mech.toState(MechCmd.MANUAL));
         new Trigger(() -> m_controller2.getRawAxis(6) > 0).whileTrue(m_mech.toState(MechCmd.INTAKE));
         new Trigger(() -> m_controller2.getRawAxis(7) > 0).whileTrue(m_mech.toState(MechCmd.DEFAULT));
         new Trigger(() -> m_controller2.getRawButton(4)).whileTrue(m_mech.toState(MechCmd.AMP));