feat(auto): shoot while moving

FRC3636 · Sep 26, 2023 · 1fdb919 · 1fdb919
1 parent f485ddd
commit 1fdb919
Showing 1 changed file with 2 additions and 3 deletions.
diff --git a/src/main/java/frc/robot/commands/autonomous/AutoShoot.java b/src/main/java/frc/robot/commands/autonomous/AutoShoot.java
@@ -33,14 +33,14 @@ public AutoShoot(Drivetrain drivetrain, boolean shouldShootInPlace) {
                                                 new PathPoint(
                                                         shootPose.getTranslation(),
                                                         shootPose.getRotation(),
-                                                        shootPose.getRotation()
+                                                        shootPose.getRotation(),
+                                                        2
                                                 ),
                                                 false);
                                         return driveCommand.andThen(
                                                 new InstantCommand(() -> {
                                                         RobotContainer.arm.setTarget(Arm.State.High);
                                                 }),
-                                                new WaitCommand(1),
                                                 new InstantCommand(() -> {
                                                         RobotContainer.arm.setRollerState(Rollers.State.Outtake);
                                                 }),
@@ -53,7 +53,6 @@ public AutoShoot(Drivetrain drivetrain, boolean shouldShootInPlace) {
                                                 new InstantCommand(() -> {
                                                         RobotContainer.arm.setTarget(Arm.State.High);
                                                 }),
-                                                new WaitCommand(1),
                                                 new InstantCommand(() -> {
                                                         RobotContainer.arm.setRollerState(Rollers.State.Outtake);
                                                 }),