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oliverstivers
requested review from
Clementine4089,
mikemag and
silverlightning926
src/main/java/frc/robot/commands/Autos/PreloadPlusOneRight.java
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src/main/java/frc/robot/commands/Presets/HighPresetSequence.java
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src/main/java/frc/robot/commands/Presets/StowPresetSequence.java
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This doesn't implement the auto piece intake in |
it should implement, look in the execute. We can check the piece in there every loop, but we can't do so with the presets because they don't have an execute |
mikemag
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mikemag
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So, yea, per our Slack conversation, you might prefer Supplier<T> instead of the #truefalsewhichway. It would be a smaller PR, and keep the code clear.
And for the love of all that is good and pure, press the Format Document button!!!! :)
| crocodile.setWristToPositionCommand(WristPosition.CONE_SCORE).withTimeout(2) | ||
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| deadlineWith(new RunCommand(() -> crocodile.setIntakeSpeed(MathUtil.clamp((0.25 + intake.getAsDouble()), -1, 1) * multiplier))); |
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Whoa, this doesn't do anything. Pop quiz for why, and why it's not a compiler nor runtime error.
It also seems unrelated to this PR.
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Why doesn't it do anything? Is it the run Command?
| new RotatorToPosition(rotator, telescope, 90).withTimeout(2), | ||
| crocodile.setWristToPositionCommand(WristPosition.CONE_SCORE).withTimeout(2) | ||
| ); | ||
| deadlineWith(new RunCommand(() -> crocodile.setIntakeSpeed(0.25 * multiplier))); |
We are working on a fix for that, in a branch off main |
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Essentially swapped all game piece enums to booleans. True for cone, false for cube. I tried to get to everything that used it. We now can use boolean suppliers and i believe things should behave as expected.