fix(superstructure): Improve ejecting.

Gongoliers · Apr 11, 2024 · b5d5b8a · b5d5b8a
1 parent df69d48
commit b5d5b8a
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Showing 3 changed files with 5 additions and 1 deletion.
diff --git a/src/main/java/frc/robot/RobotConstants.java b/src/main/java/frc/robot/RobotConstants.java
@@ -47,5 +47,5 @@ public enum Subsystem {
       EnumSet.of(
           Subsystem.ARM, Subsystem.INTAKE, Subsystem.ODOMETRY, Subsystem.SHOOTER, Subsystem.SWERVE);
 
-  public static final Set<Subsystem> REAL_SUBSYSTEMS = EnumSet.of(Subsystem.SHOOTER);
+  public static final Set<Subsystem> REAL_SUBSYSTEMS = ALL_SUBSYSTEMS;
 }
diff --git a/src/main/java/frc/robot/superstructure/Superstructure.java b/src/main/java/frc/robot/superstructure/Superstructure.java
@@ -4,6 +4,7 @@
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Commands;
 import frc.lib.Subsystem;
 import frc.lib.Telemetry;
 import frc.robot.arm.Arm;
@@ -173,6 +174,7 @@ public Command amp() {
 
   public Command eject() {
     return to(SuperstructureState.EJECT_POSITION)
+        .andThen(Commands.waitSeconds(SuperstructureConstants.EJECT_PAUSE))
         .andThen(hold(SuperstructureState.EJECT))
         .withName("EJECT");
   }

diff --git a/src/main/java/frc/robot/superstructure/SuperstructureConstants.java b/src/main/java/frc/robot/superstructure/SuperstructureConstants.java
@@ -4,4 +4,6 @@ public class SuperstructureConstants {
 
     public static final double PULL_DURATION = 0.15;
 
+    public static final double EJECT_PAUSE = 0.25;
+
 }
Original file line number	Diff line number	Diff line change
Expand Up		@@ -4,4 +4,6 @@ public class SuperstructureConstants {

		public static final double PULL_DURATION = 0.15;

		public static final double EJECT_PAUSE = 0.25;

		}