511 keep flywheel spun up#512
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…ot is in our alliance zone
…pun-up' into 511-keep-flywheel-spun-up
Vilok1
requested changes
Apr 2, 2026
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Any method that you are using in AllianceHelpers should be static and you shouldn't need to instantiate it. shootcommand does not repeatedly reevaluate the input. You should be using the runshootcommand. Also we would preferably spin up the flyweel a second before the active shift starts
…cond to each of the if clauses to start the shoot command 1 second before the hub is actually active.
Zane-122
reviewed
Apr 3, 2026
| new Trigger(copilot::getAButton).whileTrue(indexer.autoIndex(IndexerConstants.SPINDEXDER_POWER, IndexerConstants.TRANSFER_POWER)).onFalse(new InstantCommand(() -> indexer.stop())); | ||
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| new Trigger(copilot::getYButton).whileTrue(indexer.indexCommand(-0.5).withTimeout(0.1).andThen(indexer.indexCommand(1))); | ||
| new Trigger(() -> AllianceHelpers.isHubAboutToBeActive()).and(() -> drivetrain.isInZone()).whileTrue(shooter.runShootCommand(() -> ShooterConstants.VELOCITY_MAP.get(cannon.getTargetDistance()))); |
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shouldn't this be using .isHubActive() and not about to be active?
Zane-122
reviewed
Apr 3, 2026
| // Shift one is active for blue if red won auto, or red if blue won auto. | ||
| boolean shift1Active = isBlueAlliance() ? redInactiveFirst : !redInactiveFirst; | ||
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| if (matchTime > 131) { |
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isn't this all one second late instead of early
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Created a trigger where if the robot is in the alliance zone and when there is 1 second left until the hub is active, then the shooter will run based on our interpolation maps.