Merge branch 'main' of https://github.com/StuyPulse/2024-Kitbot

StuyPulse · Feb 2, 2024 · 8164a75 · 8164a75
2 parents ece09f8 + 25d79e1
commit 8164a75
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Showing 2 changed files with 3 additions and 2 deletions.
diff --git a/build.gradle b/build.gradle
@@ -1,6 +1,6 @@
 plugins {
  id "java"
- id "edu.wpi.first.GradleRIO" version "2024.1.1"
+ id "edu.wpi.first.GradleRIO" version "2024.2.1"
  id "com.diffplug.spotless" version "6.22.0"
 }
 

diff --git a/src/main/java/com/stuypulse/robot/RobotContainer.java b/src/main/java/com/stuypulse/robot/RobotContainer.java
@@ -9,6 +9,7 @@
 import com.pathplanner.lib.auto.NamedCommands;
 import com.stuypulse.robot.commands.auton.DoNothingAuton;
 import com.stuypulse.robot.commands.drivetrain.DrivetrainDrive;
+import com.stuypulse.robot.commands.launcher.LaunchPrepare;
 import com.stuypulse.robot.commands.launcher.LauncherHoldSpeed;
 import com.stuypulse.robot.commands.launcher.LauncherLaunchSpeaker;
 import com.stuypulse.robot.commands.launcher.LauncherIntakeNote;
@@ -79,7 +80,7 @@ private void configureDriverBindings() {
  .whileTrue(new LauncherIntakeNote());
 
  driver.getBottomButton()
- .whileTrue(new LauncherLaunchSpeaker());
+ .whileTrue(new LaunchPrepare(Settings.Launcher.LAUNCHER_SPEAKER_SPEED, Settings.Launcher.SPEAKER_THRESHOLD_RPM).andThen(new LauncherLaunchSpeaker()));
  }
 
  private void configureOperatorBindings() {}