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delay for feed reverse #28

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Merged
merged 1 commit into from
Jul 9, 2021
Merged

delay for feed reverse #28

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1 change: 1 addition & 0 deletions src/main/kotlin/frc/robot/Constants.kt
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Original file line number Diff line number Diff line change
Expand Up @@ -37,6 +37,7 @@ class Constants {
val kShooterReverseSpeed = -0.3 * kShooterDir
val kGateSpeed = 1.0 * kGateDir
val kGateRSpeed = -0.5 * kGateDir
val kGateRDelay = 0.1
val kGateLoadSpeed = 0.5 * kGateDir
val kIntakeSpeed = 1.0 * kIntakeDir
val kIntake2Speed = 0.85
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3 changes: 2 additions & 1 deletion src/main/kotlin/frc/robot/commands/CompositeShoot.kt
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Expand Up @@ -39,7 +39,6 @@ class CompositeShoot(val intakeSubsystem: IntakeSubsystem, val indexerSubsystem:
/* continually run indexer */
indexerSubsystem.setSpeed(Constants.kIndexerSpeed)
/* run shooter full speed */
shooterSubsystem.setSpeed(Constants.kShooterSpeed)
/* wait for a time to run gate to allow */
if (timer.get() > Constants.kShooterSpinUpTime) {
/* pulse gate to slow down balls going into shooter */
Expand All @@ -48,6 +47,8 @@ class CompositeShoot(val intakeSubsystem: IntakeSubsystem, val indexerSubsystem:
} else {
gateSubsystem.setSpeed(0.0)
}
} else if (timer.get() > Constants.kGateRDelay){
shooterSubsystem.setSpeed(Constants.kShooterSpeed)
} else {
gateSubsystem.setSpeed(Constants.kGateRSpeed)
}
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