From edae343a917a33a7538f7543d91d20a27bbba931 Mon Sep 17 00:00:00 2001
From: Vihaan <vihaangrawat@gmail.com>
Date: Wed, 26 Feb 2025 20:49:17 -0600
Subject: [PATCH] Made it so that shooter won't shoot when under a certain
 value.

Current value is 10, value is not accurate change later.
---
 src/main/java/team/gif/robot/Constants.java              | 2 +-
 src/main/java/team/gif/robot/commands/shooter/Shoot.java | 9 +++++++--
 2 files changed, 8 insertions(+), 3 deletions(-)

diff --git a/src/main/java/team/gif/robot/Constants.java b/src/main/java/team/gif/robot/Constants.java
index f5f7c9a..9830b0a 100644
--- a/src/main/java/team/gif/robot/Constants.java
+++ b/src/main/java/team/gif/robot/Constants.java
@@ -267,7 +267,7 @@ public static final class Elevator{
         public static final double ZERO_OFFSET_TICKS = 1;
         public static final double MAX_POS = 61;
         public static final double MIN_POS = 0;
-
+        public static final double ELEVATOR_POS_SHOOT_REQ = 10;
         // Motion Magic
         public static final double ELEVATOR_KP = 4.0; // 4 worked, 3 too low, 8 groaned
         public static final double ELEVATOR_KI = 0;
diff --git a/src/main/java/team/gif/robot/commands/shooter/Shoot.java b/src/main/java/team/gif/robot/commands/shooter/Shoot.java
index b3d6f61..3e9d38d 100644
--- a/src/main/java/team/gif/robot/commands/shooter/Shoot.java
+++ b/src/main/java/team/gif/robot/commands/shooter/Shoot.java
@@ -1,6 +1,7 @@
 package team.gif.robot.commands.shooter;
 
 import edu.wpi.first.wpilibj2.command.Command;
+import team.gif.robot.Constants;
 import team.gif.robot.Robot;
 
 public class Shoot extends Command {
@@ -24,14 +25,18 @@ public void initialize() {
     // Called every time the scheduler runs (~20ms) while the command is scheduled
     @Override
     public void execute() {
-        Robot.shooter.runShooterMotor();
+        if (Robot.elevator.getPosition() > Constants.Elevator.ELEVATOR_POS_SHOOT_REQ) {
+         return;
+        }
+
         counter++;
+        Robot.shooter.runShooterMotor();
     }
 
     // Return true when the command should end, false if it should continue. Runs every ~20ms.
     @Override
     public boolean isFinished() {
-        return counter > 12;
+        return counter > 12 || Robot.elevator.getPosition() < 10;
     }
 
     // Called when the command ends or is interrupted.