Merge branch 'main' into intake-current-detection

team581 · Oct 12, 2023 · bd9d9fa · bd9d9fa
2 parents fc59840 + 85234a3
commit bd9d9fa
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Showing 6 changed files with 14 additions and 11 deletions.
diff --git a/src/main/deploy/pathplanner/BlueLongSide3.path b/src/main/deploy/pathplanner/BlueLongSide3.path
@@ -3,12 +3,12 @@
     {
       "anchorPoint": {
         "x": 1.831789277613643,
-        "y": 1.61410638610751
+        "y": 1.4100000000000001
       },
       "prevControl": null,
       "nextControl": {
         "x": 2.233698996273372,
-        "y": 0.3959396976544713
+        "y": 0.19183331154696143
       },
       "holonomicAngle": 180.0,
       "isReversal": false,

diff --git a/src/main/deploy/pathplanner/BlueMidBump2Balance.path b/src/main/deploy/pathplanner/BlueMidBump2Balance.path
@@ -300,4 +300,4 @@
       ]
     }
   ]
-}
+}
diff --git a/src/main/deploy/pathplanner/RedLongSide3.path b/src/main/deploy/pathplanner/RedLongSide3.path
@@ -3,12 +3,12 @@
     {
       "anchorPoint": {
         "x": 14.708210722386356,
-        "y": 1.61410638610751
+        "y": 1.4100000000000001
       },
       "prevControl": null,
       "nextControl": {
         "x": 14.306301003726627,
-        "y": 0.39593969765447135
+        "y": 0.19183331154696148
       },
       "holonomicAngle": 0,
       "isReversal": false,

diff --git a/src/main/deploy/pathplanner/RedMidBump2Balance.path b/src/main/deploy/pathplanner/RedMidBump2Balance.path
@@ -300,4 +300,4 @@
       ]
     }
   ]
-}
+}
diff --git a/src/main/deploy/pathplanner/RedMidFlat2Balance.path b/src/main/deploy/pathplanner/RedMidFlat2Balance.path
@@ -300,4 +300,4 @@
       ]
     }
   ]
-}
+}
diff --git a/src/main/java/frc/robot/managers/SuperstructureManager.java b/src/main/java/frc/robot/managers/SuperstructureManager.java
@@ -211,10 +211,13 @@ public Command getShelfIntakeCommand() {
   }
 
   public Command getShelfIntakeEvilCommand() {
-    return getCommand(States.INTAKING_CONE_SHELF_EVIL)
-        // Interrupt command early, start stowing as soon as we are holding a cone - don't wait
-        // until wrist is at goal (since it gets messed up after the impact with the shelf)
-        .until(() -> intake.hasCone())
+    return Commands.runOnce(() -> intake.setGamePiece(HeldGamePiece.NOTHING), intake)
+        .andThen(
+            getCommand(States.INTAKING_CONE_SHELF_EVIL)
+                // Interrupt command early, start stowing as soon as we are holding a cone - don't
+                // wait until wrist is at goal (since it gets messed up after the impact with the
+                // shelf)
+                .until(() -> intake.getGamePiece() == HeldGamePiece.CONE))
         .andThen(getCommand(States.STOWED))
         .withName("SuperstructureShelfIntakeEvil");
   }
-Original file line number
+Diff line change
@@ Expand Up / @@ -300,4 +300,4 @@ @@
           ]
         }
       ]
-    }
+    }