Skip to content

Zero on startup #42

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
SCool62 wants to merge 2 commits into
base: main
Choose a base branch
from
Open

Zero on startup #42

Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
3136085
Zero on startup
SCool62 Feb 8, 2026
49ed841
Spotless
SCool62 Feb 8, 2026
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
17 changes: 16 additions & 1 deletion src/main/java/frc/robot/Robot.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -184,6 +184,9 @@ public enum RobotEdition {
@AutoLogOutput boolean haveAutosGenerated = false;
private final LoggedDashboardChooser<Command> autoChooser = new LoggedDashboardChooser<>("Autos");

@AutoLogOutput(key = "Shooter/Hood/Has Zeroed")
private boolean hoodZeroed = false;

// temporarily override map with empty map to avoid collisions with reefscape elements
// unfortunately this also turns off collisions with walls but that's fine
// TODO update once rebuilt is added to maplesim
Expand Down Expand Up @@ -528,7 +531,19 @@ private void addControllerBindings(Indexer indexer, Shooter shooter, Intake inta
// TODO add binding for climb

// current zero shooter hood
driver.b().whileTrue(shooter.runCurrentZeroing());
new Trigger(() -> !hoodZeroed)
.or(driver.b())
.whileTrue(
shooter
.runCurrentZeroing()
.finallyDo(
interrupted -> {
if (!interrupted) {
hoodZeroed = true;
} else {
hoodZeroed = false;
}
}));

new Trigger(() -> intake.beambreak()).onTrue(driver.rumbleCmd(1, 1).withTimeout(0.5));

Expand Down