pre set hood auton

jaeheonshim · jaeheonshim · commit f2ca3e1068ac · 2022-04-08T13:57:02.000-04:00
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -288,7 +288,7 @@ public CommandBase createHubToBall() {
         Trajectory t_hubToBall = loadTrajectory("HubToBall");
         CommandBase hubToBall = genRamseteCommand(t_hubToBall);
 
-        return new ParallelDeadlineGroup(hubToBall, new ShootSetVelocity(m_shooter, () -> 7500.0), createIntakeIndex()).andThen(createShootInterpolated().withTimeout(2.2));
+        return new ParallelDeadlineGroup(hubToBall, new ShootSetVelocity(m_shooter, () -> 7500.0), createIntakeIndex(), new SetHoodPosition(m_hood, () -> 50.0)).andThen(createShootInterpolated().withTimeout(2.45));
     }
 
     public CommandBase createBallToPlayer() {

Original file line number	Diff line number	Diff line change
`@@ -288,7 +288,7 @@ public CommandBase createHubToBall() {`
`288`	`288`	`Trajectory t_hubToBall = loadTrajectory("HubToBall");`
`289`	`289`	`CommandBase hubToBall = genRamseteCommand(t_hubToBall);`
`290`	`290`
`291`		`- return new ParallelDeadlineGroup(hubToBall, new ShootSetVelocity(m_shooter, () -> 7500.0), createIntakeIndex()).andThen(createShootInterpolated().withTimeout(2.2));`
	`291`	`+ return new ParallelDeadlineGroup(hubToBall, new ShootSetVelocity(m_shooter, () -> 7500.0), createIntakeIndex(), new SetHoodPosition(m_hood, () -> 50.0)).andThen(createShootInterpolated().withTimeout(2.45));`
`292`	`292`	`}`
`293`	`293`
`294`	`294`	`public CommandBase createBallToPlayer() {`