From c7e9839a6c34ba017a517b6918da1af527ccb42d Mon Sep 17 00:00:00 2001 From: weizhang-2706 Date: Wed, 15 May 2024 20:42:44 -0400 Subject: [PATCH 1/2] put the center vision shot back --- .../frc/robot/robotcontainers/NewRobotContainer.java | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/src/main/java/frc/robot/robotcontainers/NewRobotContainer.java b/src/main/java/frc/robot/robotcontainers/NewRobotContainer.java index d3c4ccd..316184b 100644 --- a/src/main/java/frc/robot/robotcontainers/NewRobotContainer.java +++ b/src/main/java/frc/robot/robotcontainers/NewRobotContainer.java @@ -140,13 +140,13 @@ private void configureButtonBindings() { // PhotonSubsystem.getInstance().getAprilTagCommand(PhotonPositions.RIGHT_SPEAKER_BLUE, driver), // PhotonSubsystem.getInstance().getAprilTagCommand(PhotonPositions.LEFT_SPEAKER_RED, driver))); - driver.leftTrigger().whileTrue(CombinedCommands.centerSpeakerVisionShot(driver, PhotonPositions.FAR_SPEAKER_BLUE, PhotonPositions.FAR_SPEAKER_RED)) + driver.leftTrigger().whileTrue(CombinedCommands.centerSpeakerVisionShot(driver, PhotonPositions.PODIUM_SOURCESIDE_BLUE, PhotonPositions.PODIUM_SOURCESIDE_RED)) .onTrue(Commands.runOnce(() -> TeleopSwerve.setSpeeds(TeleopSpeeds.SLOW))) - .onFalse(Commands.runOnce(() -> TeleopSwerve.setSpeeds(TeleopSpeeds.MAX))); + .onFalse(Commands.runOnce(() -> TeleopSwerve.setSpeeds(TeleopSpeeds.MAX))); - // driver.leftTrigger().whileTrue(CombinedCommands.podiumSourceSideSpeakerVisionShot(driver, PhotonPositions.PODIUM_SOURCESIDE_BLUE, PhotonPositions.PODIUM_SOURCESIDE_RED)) - // .onTrue(Commands.runOnce(() -> TeleopSwerve.setSpeeds(TeleopSpeeds.SLOW))) - // .onFalse(Commands.runOnce(() -> TeleopSwerve.setSpeeds(TeleopSpeeds.MAX))); + //driver.leftTrigger().whileTrue(CombinedCommands.podiumSourceSideSpeakerVisionShot(driver, PhotonPositions.PODIUM_SOURCESIDE_BLUE, PhotonPositions.PODIUM_SOURCESIDE_RED)) + // .onTrue(Commands.runOnce(() -> TeleopSwerve.setSpeeds(TeleopSpeeds.SLOW))) + // .onFalse(Commands.runOnce(() -> TeleopSwerve.setSpeeds(TeleopSpeeds.MAX))); // Complete vision scoring commands with all subsystems // if (Config.disableStateBasedProgramming) { From dd2096692213a3813709fae874cbb9e5f0d36c64 Mon Sep 17 00:00:00 2001 From: weizhang-2706 Date: Wed, 15 May 2024 21:52:35 -0400 Subject: [PATCH 2/2] change back --- src/main/java/frc/robot/robotcontainers/NewRobotContainer.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/robotcontainers/NewRobotContainer.java b/src/main/java/frc/robot/robotcontainers/NewRobotContainer.java index 316184b..b614918 100644 --- a/src/main/java/frc/robot/robotcontainers/NewRobotContainer.java +++ b/src/main/java/frc/robot/robotcontainers/NewRobotContainer.java @@ -140,7 +140,7 @@ private void configureButtonBindings() { // PhotonSubsystem.getInstance().getAprilTagCommand(PhotonPositions.RIGHT_SPEAKER_BLUE, driver), // PhotonSubsystem.getInstance().getAprilTagCommand(PhotonPositions.LEFT_SPEAKER_RED, driver))); - driver.leftTrigger().whileTrue(CombinedCommands.centerSpeakerVisionShot(driver, PhotonPositions.PODIUM_SOURCESIDE_BLUE, PhotonPositions.PODIUM_SOURCESIDE_RED)) + driver.leftTrigger().whileTrue(CombinedCommands.centerSpeakerVisionShot(driver, PhotonPositions.FAR_SPEAKER_BLUE, PhotonPositions.FAR_SPEAKER_RED)) .onTrue(Commands.runOnce(() -> TeleopSwerve.setSpeeds(TeleopSpeeds.SLOW))) .onFalse(Commands.runOnce(() -> TeleopSwerve.setSpeeds(TeleopSpeeds.MAX)));