switched to toggle, changed ports

SkylineSpartabots · Jan 27, 2024 · 21dca7a · 21dca7a
1 parent 06e38a1
commit 21dca7a
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Showing 3 changed files with 10 additions and 7 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -37,7 +37,7 @@ public final class Constants {
   public static final class HardwarePorts {
     // motors (predicted) IDs not fixed
     // shooter ports should be correct, climb IDs still predicted
-    public static final int shooterLeaderM = 21;
+    public static final int shooterLeaderM = 23;
     public static final int shooterFollowerM = 22;
     public static final int climbLeaderMotor = 3;
     public static final int climbFollowerMotor = 4;

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -46,7 +46,7 @@ public RobotContainer() {
   private void configureBindings() {
 
     // driver controls
-    driver.a().whileTrue(new TossCommand());
+    driver.a().onTrue(new TossCommand());
 
     // operator controls
 

diff --git a/src/main/java/frc/robot/commands/TossCommand.java b/src/main/java/frc/robot/commands/TossCommand.java
@@ -10,26 +10,29 @@
 /** An example command that uses an example subsystem. */
 public class TossCommand extends Command {
   private final ShooterSubsystem s_shooter;
-  private boolean finish;
+  private boolean finish = false;
+  private static boolean running = false;
 
   public TossCommand() {
     s_shooter = ShooterSubsystem.getInstance();
     addRequirements(s_shooter);
-    finish = false;
   }
 
   @Override
   public void initialize() {}
 
   @Override
   public void execute() {
-    s_shooter.setVoltage(10);
-    finish = true;
+    if (running) {
+      s_shooter.setVoltage(0);
+    } else {
+      s_shooter.setVoltage(10);
+    }
   }
 
   @Override
   public void end(boolean interrupted) {
-    s_shooter.setVoltage(0);
+    running = !running;
   }
 
   @Override