added lower pass angle that does not change the robot angle

2491-NoMythic · Apr 30, 2024 · d5710e3 · d5710e3
1 parent 6cbf980
commit d5710e3
Show file tree

Hide file tree

Showing 2 changed files with 8 additions and 4 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -250,7 +250,7 @@ private void shooterInst() {
   }
   private void angleShooterInst(){
     angleShooterSubsystem = new AngleShooterSubsystem();
-    defaultShooterAngleCommand = new AimShooter(angleShooterSubsystem, AmpAngleSup, HumanPlaySup, SubwooferAngleSup, StageAngleSup, GroundIntakeSup, FarStageAngleSup, OverStagePassSup, OppositeStageShotSup);
+    defaultShooterAngleCommand = new AimShooter(angleShooterSubsystem, AmpAngleSup, HumanPlaySup, SubwooferAngleSup, StageAngleSup, GroundIntakeSup, FarStageAngleSup, OverStagePassSup, OppositeStageShotSup, CenterAmpPassSup);
     angleShooterSubsystem.setDefaultCommand(defaultShooterAngleCommand);
   }
   private void intakeInst() {
@@ -607,8 +607,8 @@ public void execute() {
     }
     if(angleShooterExists) {
       //the same command that we use during teleop, but all the buttons that would aim the shooter anywhere other than the speaker are set to false.
-      NamedCommands.registerCommand("autoAimAtSpeaker", new AimShooter(angleShooterSubsystem, ()->false, ()->false, ()->false, ()->false, ()->false, ()->false, ()->false, ()->false));
-      SmartDashboard.putData("autoAimAtSpeaker", new AimShooter(angleShooterSubsystem, ()->false, ()->false, ()->false, ()->false, ()->false, ()->false, ()->false, ()->false));
+      NamedCommands.registerCommand("autoAimAtSpeaker", new AimShooter(angleShooterSubsystem, ()->false, ()->false, ()->false, ()->false, ()->false, ()->false, ()->false, ()->false, ()->false));
+      SmartDashboard.putData("autoAimAtSpeaker", new AimShooter(angleShooterSubsystem, ()->false, ()->false, ()->false, ()->false, ()->false, ()->false, ()->false, ()->false, ()->false));
     }
     if (indexerExists&&intakeExists) {
       NamedCommands.registerCommand("groundIntake", new AutoGroundIntake(indexer, intake, driveTrain));

diff --git a/src/main/java/frc/robot/commands/AimShooter.java b/src/main/java/frc/robot/commands/AimShooter.java
@@ -20,6 +20,7 @@ public class AimShooter extends Command {
 	BooleanSupplier farStageAngleSup;
 	BooleanSupplier OverStageAngleSup;
 	BooleanSupplier OppositeStageShotSup;
+	BooleanSupplier LowPassAngleSup;
 	/**
 	 * A Command that will control the angle of the shooter. If none of the supplied buttons are pressed, than it will automatically aim at the speaker
 	 * @param angleShooterSubsystem the subsytem to control the angle of the shooter
@@ -33,7 +34,7 @@ public class AimShooter extends Command {
    	 * @param OppositeStageShotSup button to press to aim at the speaker from the opposite side of the stage (from the speaker)
 	 */
 	public AimShooter(AngleShooterSubsystem angleShooterSubsystem, BooleanSupplier AmpSup, BooleanSupplier humanPlayerSupplier,
-					  BooleanSupplier SubwooferSupplier1, BooleanSupplier StageAngleSupplier, BooleanSupplier groundIntakeSup, BooleanSupplier farStageAngleSup, BooleanSupplier OverStageAngleSup, BooleanSupplier OppositeStageShotSup) {
+					  BooleanSupplier SubwooferSupplier1, BooleanSupplier StageAngleSupplier, BooleanSupplier groundIntakeSup, BooleanSupplier farStageAngleSup, BooleanSupplier OverStageAngleSup, BooleanSupplier OppositeStageShotSup, BooleanSupplier LowPassAngleSup) {
 		this.angleShooterSubsystem = angleShooterSubsystem;
 		this.AmpSup = AmpSup;
 		this.humanPlayerSupplier = humanPlayerSupplier;
@@ -43,6 +44,7 @@ public AimShooter(AngleShooterSubsystem angleShooterSubsystem, BooleanSupplier A
 		this.farStageAngleSup = farStageAngleSup;
 		this.OverStageAngleSup = OverStageAngleSup;
 		this.OppositeStageShotSup = OppositeStageShotSup;
+		this.LowPassAngleSup = LowPassAngleSup;
 		addRequirements(angleShooterSubsystem);
 	}
 
@@ -70,6 +72,8 @@ public void execute() {
 			angleShooterSubsystem.setDesiredShooterAngle(ShooterConstants.OVER_STAGE_PASS_ANGLE);
 		} else if(OppositeStageShotSup.getAsBoolean()) {
 			angleShooterSubsystem.setDesiredShooterAngle(Field.OPPOSITE_STAGE_SHOOTER_ANGLE);
+		} else if (LowPassAngleSup.getAsBoolean()) {
+			angleShooterSubsystem.setDesiredShooterAngle(12);
 		} else {
 			angleShooterSubsystem.setDesiredShooterAngle(angleShooterSubsystem.calculateSpeakerAngle());
 		}