extra requirements for shootManual (not everything yet)

KHS-Robotics · Mar 27, 2024 · 8865822 · 8865822
1 parent eebe901
commit 8865822
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -194,7 +194,7 @@ private void configureXboxControllerBindings() {
       shooter.setVelocity(10);
     }, RobotContainer.shooter)));
 
-    var shootManual = new Trigger(() -> driverController.getHID().getRightBumper());
+    var shootManual = new Trigger(() -> driverController.getHID().getRightBumper() && -shooter.getVelocity() > 8);
     shootManual.onTrue(new InstantCommand(() -> shooter.feed()));
     shootManual.onFalse(new WaitCommand(1).andThen(new InstantCommand(() -> {
       RobotContainer.shooter.stopIndexer();
@@ -232,7 +232,7 @@ private void configureXboxControllerBindings() {
 
   /** Binds commands to the operator stick. */
   private void configureOperatorStickBindings() {
-    var shootManual = new Trigger(operatorStick::shootManual);
+    var shootManual = new Trigger(() -> operatorStick.shootManual() && -shooter.getVelocity() > 8);
     shootManual.onTrue(new RampShooter(() -> 20).andThen(new InstantCommand(() -> shooter.feed())));
     shootManual.onFalse(new WaitCommand(1).andThen(new InstantCommand(() -> {
       RobotContainer.shooter.stopIndexer();