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Fix two ball timer logic #35

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Fix two ball timer logic #35

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28 changes: 19 additions & 9 deletions src/main/java/frc/robot/commands/TwoBallAuto.java
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Original file line number Diff line number Diff line change
Expand Up @@ -24,19 +24,24 @@ public TwoBallAuto(Drivetrain drive, Shooter shooter, Indexer indexer, Intake in
// Add your commands in the addCommands() call, e.g.
// addCommands(new FooCommand(), new BarCommand());
addCommands(
new ShootCommand(ShooterConstants.kShooterFenderRPM, 4.0, shooter, indexer),
new ShootCommand(ShooterConstants.kShooterFenderRPM, 2.0, shooter, indexer),
new ParallelCommandGroup(
new RunCommand(
() -> {
intake.intakeBalls();
},
intake),
new RunCommand(
new RunCommand(
() -> {
intake.intakeBalls();
},
intake),
new RunCommand(
() -> {
drive.drive(0.5, 0.0);
},
drive)
.withTimeout(DrivetrainConstants.kAutoTime)),
drive))
.withTimeout(DrivetrainConstants.kAutoTime),
new InstantCommand(
() -> {
drive.drive(0.0, 0.0);
},
drive),
new InstantCommand(
() -> {
intake.retractIntake();
Expand All @@ -48,6 +53,11 @@ public TwoBallAuto(Drivetrain drive, Shooter shooter, Indexer indexer, Intake in
},
drive)
.withTimeout(DrivetrainConstants.kAutoTime),
new InstantCommand(
() -> {
drive.drive(0.0, 0.0);
},
drive),
new ShootCommand(ShooterConstants.kShooterFenderRPM, 4.0, shooter, indexer));
}
}