Merge branch 'stu_battlecry_event' into adam_real_enumerated_tasks

Team-501-The-PowerKnights · Oct 15, 2024 · b5a937d · b5a937d
2 parents 6099ce3 + d42459f
commit b5a937d
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Showing 3 changed files with 6 additions and 4 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -377,8 +377,8 @@ void configurePathPlannerCommands() {
         "Shoot Auto AMP w/ Pre-Load",
         Commands.sequence(
             new WaitCommand(0.5),
-            m_mast.setTask(Mast.Task.LAUNCHSUB),
-            m_launcher.setTask(Launcher.Task.LAUNCHSUB),
+            m_mast.setTask(Mast.Task.LAUCNHNOTEPRE),
+            m_launcher.setTask(Launcher.Task.LAUCNHNOTEPRE),
             new WaitUntilCommand(m_launcher::atSpeed),
             m_incrementer.setTask(Incrementer.Task.LAUNCHMAN)));
 

diff --git a/src/main/java/frc/robot/subsystems/Launcher.java b/src/main/java/frc/robot/subsystems/Launcher.java
@@ -20,14 +20,15 @@ public class Launcher extends SubsystemBase {
   public enum Task {
     INTAKING("Intaking", 0.0, 0.0),
     LOADINC("Load INC", 0.0, 0.0),
-    LAUNCHSUB("Launch Subwoofer", 0.42, 3000.00),
-    LAUNCHKEY("Launch Protected", 0.67, 4000),
+    LAUNCHSUB("Launch Subwoofer", 0.44, 3000.00),
+    LAUNCHKEY("Launch Protected", 0.69, 4000),
     LAUNCHPASS("Launch Pass", 1.00, 5000),
     LAUNCHAUTO("Launch Auto", 0.0, 0.0),
     PUTAMP("Note->Amp", 0.0, 0.0),
     LAUNCHTRAP("Launch Tap", 0.55, 1000), // .60
     CLEARJAM("Clear", 0.25, 1000.0),
     IDLE("Idle", 0.0, 0.0),
+    LAUCNHNOTEPRE("Note Preload", .50, 5000),
     LAUCNHNOTE1("Launch Note 1", .67, 55.0),
     LAUCNHNOTE2("Launch Note 2", .55, 45.0);
 

diff --git a/src/main/java/frc/robot/subsystems/Mast.java b/src/main/java/frc/robot/subsystems/Mast.java
@@ -41,6 +41,7 @@ public enum Task {
     OFFKICKSTAND("Off Kickstand", 50.00),
     BUMPUP("Bump Up", 1.0),
     BUMPDOWN("Bump Down", -1.0),
+    LAUCNHNOTEPRE("Launch Preload", 44.0),
     LAUCNHNOTE1("Launch Note 1", 60.0),
     LAUCNHNOTE2("Launch Note 2", 55.0);