Merge pull request fairviewrobotics#29 from edwardwawrzynek/master

Update to 2021 gradleRIO, and run shooter during gate pulse in CompositeShoot

Author: edwardwawrzynek

.wpilib/wpilib_preferences.json

@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": false,
     "currentLanguage": "java",
-    "projectYear": "2020",
+    "projectYear": "2021",
     "teamNumber": 2036
-}
+}

build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2020.3.2"
+    id "edu.wpi.first.GradleRIO" version "2021.3.1"
     id "org.jetbrains.kotlin.jvm" version "1.3.50"
 }
 

src/main/kotlin/frc/robot/RobotContainer.kt

@@ -209,7 +209,9 @@ class RobotContainer {
         gate.defaultCommand = SensoredFixedGateSpeed(gate, {
             if (controller0.xButton) Constants.kGateSpeed else (
                 if (controller0.bButton) -Constants.kGateSpeed else (
-                    if (controller0.getBumper(kLeft)) Constants.kGateLoadSpeed else 0.0
+                    if (controller0.getBumper(kLeft)) Constants.kGateLoadSpeed else (
+                        if (controller0.getTriggerAxis(kLeft) >= Constants.kTriggerThresh) -Constants.kGateLoadSpeed else 0.0
+                    )
                 ))
         }, {
             /* only run in sensored mode if controller0 left bumper held */
@@ -254,13 +256,6 @@ class RobotContainer {
     }
 
     fun getAutonomousCommand(): Command {
-        if (gate.isBallTriggered()) {
-            return pathPlanningCommand("paths/") // update
-        } else{
-            return pathPlanningCommand("paths/")
-        }
-        
-
         // Return the selected command
         return m_autoCommandChooser.selected
     }

src/main/kotlin/frc/robot/commands/CompositeShoot.kt

@@ -41,6 +41,7 @@ class CompositeShoot(val intakeSubsystem: IntakeSubsystem, val indexerSubsystem:
         /* run shooter full speed */
         /* wait for a time to run gate to allow  */
         if (timer.get() > Constants.kShooterSpinUpTime) {
+            shooterSubsystem.setSpeed(Constants.kShooterSpeed)
             /* pulse gate to slow down balls going into shooter */
             if (timer.get() % Constants.kGatePulseTime < Constants.kGatePulseTime / 2) {
                 gateSubsystem.setSpeed(Constants.kGateSpeed)