fixed auto with toggle

Evolution2626 · Feb 29, 2024 · 104f08c · 104f08c
1 parent 2b9ef23
commit 104f08c
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Showing 2 changed files with 5 additions and 6 deletions.
diff --git a/src/main/java/frc/robot/commands/AutoShootToSideCommand.java b/src/main/java/frc/robot/commands/AutoShootToSideCommand.java
@@ -27,11 +27,10 @@ public AutoShootToSideCommand(
     // addCommands(new FooCommand(), new BarCommand());
     addCommands(new AvancerXmCommand(drivetrain, -1.75)); // todo find the number of meter
     addCommands(new SetRobotAngleCommand(drivetrain, limelight));
-    addCommands(new SetShooterSpeedCommand(shooter));
-    addCommands(
-        new ParallelDeadlineGroup(
-            new ShootNoteCommand(intake), new SetShooterSpeedCommand(shooter)));
-    addCommands(new StopShooterCommand(shooter));
+    addCommands(new SetShooterStateCommand(shooter));
+    addCommands(new WaitXSecondCommand(5));//to speed up
+    addCommands(new ShootNoteCommand());
+    addCommands(new SetShooterStateCommand(shooter));
     addCommands(new AvancerXmCommand(drivetrain, 2));
   }
 }
diff --git a/src/main/java/frc/robot/commands/ShootNoteCommand.java b/src/main/java/frc/robot/commands/ShootNoteCommand.java
@@ -40,7 +40,7 @@ public void end(boolean interrupted) {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    if(intake.getWheelEncoder() >= 20){
+    if(Math.abs(intake.getWheelEncoder()) >= 20){//validate if positive or negative
       return true;
     }
     return false;