Pivot edits

Iron-Panthers · Sep 20, 2024 · 6018eeb · 6018eeb
1 parent cfb7306
commit 6018eeb
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Showing 3 changed files with 5 additions and 9 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -415,8 +415,10 @@ private void configureButtonBindings() {
                         ? -Setpoints.SOURCE_DEGREES
                         : Setpoints.SOURCE_DEGREES)
                 .alongWith(
-                    new IntakeCommand(
-                        intakeSubsystem, shooterSubsystem, pivotSubsystem, elevatorSubsystem)));
+                    new PivotAndElevatorTransferPositionsCommand(pivotSubsystem, elevatorSubsystem)
+                    .andThen(
+                        new IntakeCommand(
+                            intakeSubsystem, shooterSubsystem, pivotSubsystem, elevatorSubsystem))));
 
     // NOTE TO SHOOTER OR SERIALIZER
     anthony.b().onTrue(

diff --git a/src/main/java/frc/robot/commands/AmpPreparationCommand.java b/src/main/java/frc/robot/commands/AmpPreparationCommand.java
@@ -4,14 +4,8 @@
 
 package frc.robot.commands;
 
-import java.util.function.DoubleSupplier;
-
-import edu.wpi.first.wpilibj.DriverStation;
-import edu.wpi.first.wpilibj.DriverStation.Alliance;
-import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import frc.robot.Constants.Elevator;
-import frc.robot.subsystems.DrivebaseSubsystem;
 import frc.robot.subsystems.ElevatorSubsystem;
 import frc.robot.subsystems.PivotSubsystem;
 import frc.robot.subsystems.ShooterSubsystem;

diff --git a/src/main/java/frc/robot/commands/PivotManualCommand.java b/src/main/java/frc/robot/commands/PivotManualCommand.java
@@ -19,7 +19,7 @@ public PivotManualCommand(PivotSubsystem pivotSubsystem, DoubleSupplier joystick
 
   @Override
   public void execute() {
-    pivotSubsystem.setPower(joystickRate.getAsDouble());
+    pivotSubsystem.setPower(pivotSubsystem.getTargetDegrees() + joystickRate.getAsDouble());
   }
 
   @Override