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

Author: overseeroverseer

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"
 }
 

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() {}