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Team3256 · Nov 8, 2024 · 2304b9c · 2304b9c
1 parent bbb1415
commit 2304b9c
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Showing 4 changed files with 13 additions and 12 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -159,7 +159,11 @@ public RobotContainer() {
   private void configureBindings() {
     m_operatorController
         .rightBumper("Intake")
-        .whileTrue(intake.intakeIn().alongWith(spindex.goToShooter()).alongWith(turret.setPosition(TurretConstants.kIntakePreset)));
+        .whileTrue(
+            intake
+                .intakeIn()
+                .alongWith(spindex.goToShooter())
+                .alongWith(turret.setPosition(TurretConstants.kIntakePreset)));
     m_operatorController
         .rightTrigger("Shooter")
         .onTrue(

diff --git a/src/main/java/frc/robot/subsystems/spindex/Spindex.java b/src/main/java/frc/robot/subsystems/spindex/Spindex.java
@@ -96,12 +96,12 @@ public Command goToShooter() {
 
   public Command feedNoteToShooter() {
     return setVoltage(SpindexConstants.spindexMotorVoltage, SpindexConstants.shooterFeederVoltage)
-//        .until(() -> !beamBreakIOAutoLogged.beamBroken)
-            .finallyDo(
-                    () -> {
-                      spindexIO.off();
-                      shooterFeederIO.off();
-                    });
+        //        .until(() -> !beamBreakIOAutoLogged.beamBroken)
+        .finallyDo(
+            () -> {
+              spindexIO.off();
+              shooterFeederIO.off();
+            });
   }
 
   public Command goToAmpevator() {

diff --git a/src/main/java/frc/robot/subsystems/turret/Turret.java b/src/main/java/frc/robot/subsystems/turret/Turret.java
@@ -91,8 +91,7 @@ public Command setPositionFieldRelative(Rotation2d position, CommandSwerveDrivet
    * @return Command to set the turret motor to the desired position / by the gear ratio
    */
   public Command setPosition(Rotation2d position) {
-    return this.runOnce(
-        () -> turretIO.setPosition(position.getRotations()));
+    return this.runOnce(() -> turretIO.setPosition(position.getRotations()));
   }
 
   /**
@@ -154,7 +153,6 @@ public Command shakeHead() {
    *     the reverse limit if it is past the reverse limit
    */
   public Command reset() {
-    return this.runOnce(
-        () -> turretIO.setPosition(0));
+    return this.runOnce(() -> turretIO.setPosition(0));
   }
 }
diff --git a/src/main/java/frc/robot/subsystems/turret/TurretConstants.java b/src/main/java/frc/robot/subsystems/turret/TurretConstants.java
@@ -8,7 +8,6 @@
 package frc.robot.subsystems.turret;
 
 import com.ctre.phoenix6.configs.*;
-import com.ctre.phoenix6.signals.FeedbackSensorSourceValue;
 import com.ctre.phoenix6.signals.InvertedValue;
 import com.ctre.phoenix6.signals.NeutralModeValue;
 import edu.wpi.first.math.geometry.Rotation2d;