From 02adeb351bf9b03aefcca6c73f9bbde6b7c13e1b Mon Sep 17 00:00:00 2001 From: EJainDev Date: Thu, 8 Oct 2026 02:09:08 -0400 Subject: [PATCH 1/3] feat: add toggle for always on shooter --- src/main/java/frc/robot/RobotContainer.java | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 62fa60ceb..cfa39e90d 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -47,6 +47,7 @@ import frc.robot.subsystems.magicCarpet.MagicCarpetIO; import frc.robot.subsystems.magicCarpet.MagicCarpetSparkMax; import frc.robot.subsystems.shooter.Shooter; +import frc.robot.subsystems.shooter.ShooterConstants; import frc.robot.subsystems.shooter.ShooterIO; import frc.robot.subsystems.shooter.ShooterIOSparkMax; import frc.robot.subsystems.vision.Vision; @@ -352,6 +353,11 @@ private void configureButtonBindings() { .toggleOnTrue(orchestrator.spinUpShooterHub()); operatorController.y().whileTrue(indexer.reverse()); operatorController.x().whileTrue(intakeRollers.outtake()); + + operatorController + .pov(90) + .toggleOnTrue(shooter.setVoltage(ShooterConstants.KS + 1)) + .toggleOnFalse(Commands.runOnce(() -> shooter.setDefaultCommand(shooter.stop()))); } /** From e224a3eb9ba0c1ef4eb710333317698d1b891f6b Mon Sep 17 00:00:00 2001 From: EJainDev Date: Sat, 10 Oct 2026 11:12:54 -0400 Subject: [PATCH 2/3] feat: add back SubsystemBase --- src/main/java/frc/robot/Orchestrator.java | 44 ++++++++++++----------- 1 file changed, 24 insertions(+), 20 deletions(-) diff --git a/src/main/java/frc/robot/Orchestrator.java b/src/main/java/frc/robot/Orchestrator.java index 895d17556..6b96c281a 100644 --- a/src/main/java/frc/robot/Orchestrator.java +++ b/src/main/java/frc/robot/Orchestrator.java @@ -23,7 +23,6 @@ import frc.lib.utils.AllianceFlipUtil; import frc.robot.FieldConstants.Hub; import frc.robot.commands.auto.DriveToPose; -import frc.robot.commands.auto.RotateToOrientation; import frc.robot.commands.drive.DriveCommands; import frc.robot.subsystems.drive.Drive; import frc.robot.subsystems.indexer.Indexer; @@ -186,25 +185,30 @@ public Command zoneBasedShooter() { public Command zoneBasedAim() { DoubleSupplier allianceY = () -> AllianceFlipUtil.applyY(drive.getPose().getY()); - return new SelectCommand<>( - Map.ofEntries( - Map.entry(ZoneId.ZONE_1, aimToHub()), - Map.entry( - ZoneId.ZONE_2, - new ConditionalCommand( - new RotateToOrientation(drive, () -> AllianceFlipUtil.apply(BBumpClosePose)), - new RotateToOrientation( - drive, - () -> AllianceFlipUtil.apply(AllianceFlipUtil.reflectY(BBumpClosePose))), - () -> allianceY.getAsDouble() > FieldConstants.fieldWidth / 2)), - Map.entry( - ZoneId.ZONE_3, - new RotateToOrientation(drive, () -> AllianceFlipUtil.apply(BBumpFarPose))), - Map.entry( - ZoneId.ZONE_4, - new RotateToOrientation( - drive, () -> AllianceFlipUtil.apply(AllianceFlipUtil.reflectY(BBumpFarPose))))), - this::getCurrentZone); + return aimToHub(); + + // return new SelectCommand<>( + // Map.ofEntries( + // Map.entry(ZoneId.ZONE_1, aimToHub()), + // Map.entry( + // ZoneId.ZONE_2, + // new ConditionalCommand( + // new RotateToOrientation(drive, () -> + // AllianceFlipUtil.apply(BBumpClosePose)), + // new RotateToOrientation( + // drive, + // () -> + // AllianceFlipUtil.apply(AllianceFlipUtil.reflectY(BBumpClosePose))), + // () -> allianceY.getAsDouble() > FieldConstants.fieldWidth / 2)), + // Map.entry( + // ZoneId.ZONE_3, + // new RotateToOrientation(drive, () -> AllianceFlipUtil.apply(BBumpFarPose))), + // Map.entry( + // ZoneId.ZONE_4, + // new RotateToOrientation( + // drive, () -> + // AllianceFlipUtil.apply(AllianceFlipUtil.reflectY(BBumpFarPose))))), + // this::getCurrentZone); } public Pose2d getShootWhileDrivingResultPose() { From 2cdfe9864b415ca06d0a734a9046441af92e0676 Mon Sep 17 00:00:00 2001 From: EJainDev Date: Sat, 10 Oct 2026 11:26:28 -0400 Subject: [PATCH 3/3] fix: remove stuff --- src/main/java/frc/robot/RobotContainer.java | 6 ------ 1 file changed, 6 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index cfa39e90d..62fa60ceb 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -47,7 +47,6 @@ import frc.robot.subsystems.magicCarpet.MagicCarpetIO; import frc.robot.subsystems.magicCarpet.MagicCarpetSparkMax; import frc.robot.subsystems.shooter.Shooter; -import frc.robot.subsystems.shooter.ShooterConstants; import frc.robot.subsystems.shooter.ShooterIO; import frc.robot.subsystems.shooter.ShooterIOSparkMax; import frc.robot.subsystems.vision.Vision; @@ -353,11 +352,6 @@ private void configureButtonBindings() { .toggleOnTrue(orchestrator.spinUpShooterHub()); operatorController.y().whileTrue(indexer.reverse()); operatorController.x().whileTrue(intakeRollers.outtake()); - - operatorController - .pov(90) - .toggleOnTrue(shooter.setVoltage(ShooterConstants.KS + 1)) - .toggleOnFalse(Commands.runOnce(() -> shooter.setDefaultCommand(shooter.stop()))); } /**