Tweak to Shoot in Auto

Team-501-The-PowerKnights · Jun 2, 2024 · d42459f · d42459f
1 parent 28de20b
commit d42459f
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Showing 3 changed files with 3 additions and 2 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -378,7 +378,7 @@ void configurePathPlannerCommands() {
         Commands.sequence(
             new WaitCommand(0.5),
             m_mast.setTask(Mast.Task.LAUCNHNOTEPRE),
-            m_launcher.setTask(Launcher.Task.LAUNCHSUB),
+            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
@@ -28,6 +28,7 @@ public enum Task {
     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
@@ -41,7 +41,7 @@ public enum Task {
     OFFKICKSTAND("Off Kickstand", 50.00),
     BUMPUP("Bump Up", 1.0),
     BUMPDOWN("Bump Down", -1.0),
-    LAUCNHNOTEPRE("Launch Preload", 42.0),
+    LAUCNHNOTEPRE("Launch Preload", 44.0),
     LAUCNHNOTE1("Launch Note 1", 60.0),
     LAUCNHNOTE2("Launch Note 2", 55.0);