Add turn and decrease shoot timeout for autos

Mechanical-Advantage · Feb 11, 2024 · 6e428f7 · 6e428f7
1 parent 9f1daae
commit 6e428f7
Showing 1 changed file with 6 additions and 5 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -102,16 +102,17 @@ public RobotContainer() {
         Commands.sequence(
             new PrepareLaunch(shooter, hopper)
                 .withTimeout(Constants.SHOOTER_DELAY)
-                .andThen(new LaunchNote(shooter, hopper).withTimeout(3)),
-            AutoBuilder.buildAuto("Amp_Out")));
+                .andThen(new LaunchNote(shooter, hopper).withTimeout(2)),
+            AutoBuilder.buildAuto("Amp_Out"),
+            new Turn(drive, Rotation2d.fromDegrees(180), true)));
     autoChooser.addOption(
         "Shoot Source Out",
         Commands.sequence(
             new PrepareLaunch(shooter, hopper)
                 .withTimeout(Constants.SHOOTER_DELAY)
-                .andThen(new LaunchNote(shooter, hopper).withTimeout(3)),
-            AutoBuilder.buildAuto("Source_Out")));
-    autoChooser.addOption("Turn", new Turn(drive, Rotation2d.fromDegrees(90), false));
+                .andThen(new LaunchNote(shooter, hopper).withTimeout(2)),
+            AutoBuilder.buildAuto("Source_Out"),
+            new Turn(drive, Rotation2d.fromDegrees(180), true)));
 
     // Configure the button bindings
     configureButtonBindings();