changed the command to while true and changed the constraints

TripleHelixProgramming · Jan 25, 2025 · 85e1da9 · 85e1da9
1 parent f9731c5
commit 85e1da9
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Showing 2 changed files with 2 additions and 5 deletions.
diff --git a/src/main/java/frc/robot/DriveToPoseCommand.java b/src/main/java/frc/robot/DriveToPoseCommand.java
@@ -60,7 +60,7 @@ public boolean isFinished() {
         double yError = Math.abs(targetPose.getY() - currentPose.getY());
         double thetaError = Math.abs(targetPose.getRotation().getRadians() - currentPose.getRotation().getRadians());
 
-        return xError < 0.1 && yError < 0.1 && thetaError < Math.toRadians(3);
+        return xError < 0.05 && yError < 0.05 && thetaError < Math.toRadians(3);
     }
 
     @Override

diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
@@ -185,10 +185,7 @@ private void configureDriverButtonBindings() {
         .ignoringDisable(true));
 
     m_driver.AIn()
-        .onTrue(moveToPoseCommand);
-
-    m_driver.HIn()
-        .onTrue(new InstantCommand(() -> CommandScheduler.getInstance().cancel(moveToPoseCommand)));
+        .whileTrue(moveToPoseCommand);
 
   }
   // spotless:on