Merge remote-tracking branch 'origin/feat/intake' into feat/intake

Iron-Panthers · Nov 10, 2023 · 483263c · 483263c
2 parents adb71f7 + 08a5310
commit 483263c
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Showing 3 changed files with 8 additions and 4 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -207,7 +207,7 @@ public static final class Setpoints {
       public static final ElevatorState GROUND_INTAKE_CONE =
           new ElevatorState(MIN_EXTENSION_INCHES, 75);
       public static final ElevatorState GROUND_INTAKE_CUBE =
-          new ElevatorState(MIN_EXTENSION_INCHES, 85);
+          new ElevatorState(MIN_EXTENSION_INCHES, 90);
       public static final ElevatorState SCORE_HIGH_CONE =
           new ElevatorState(MAX_EXTENSION_INCHES, 20);
       public static final ElevatorState SCORE_HIGH_CUBE =

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -390,10 +390,12 @@ private void configureButtonBindings() {
               intakeSubsystem,
               elevatorSubsystem,
               Constants.SCORE_STEP_MAP.get(scoreType),
-              anthony.povRight()));
+              jacob.b()));
+            //   anthony.povRight()));
 
-    anthony
-        .povRight()
+    // anthony
+    //     .povRight()
+    jacob.b()
         .onTrue(
             new HashMapCommand<>(
                 scoreCommandMap, () -> currentNodeSelection.get().getScoreTypeIdentifier()));

diff --git a/src/main/java/frc/robot/commands/GroundPickupCommand.java b/src/main/java/frc/robot/commands/GroundPickupCommand.java
@@ -9,8 +9,10 @@
 import frc.robot.Constants.Elevator;
 import frc.robot.subsystems.ElevatorSubsystem;
 import frc.robot.subsystems.IntakeSubsystem;
+import frc.robot.subsystems.ElevatorSubsystem.ElevatorState;
 import frc.robot.subsystems.IntakeSubsystem.Modes;
 import java.util.function.BooleanSupplier;
+import java.util.function.Supplier;
 
 // NOTE:  Consider using this command inline, rather than writing a subclass.  For more
 // information, see: