flush command

Signed-off-by: KP <86213869+Kanishk-Pandey@users.noreply.github.com>
DurhamAcademy · Feb 29, 2024 · 357aec2 · 357aec2
1 parent b80b38e
commit 357aec2
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Showing 2 changed files with 11 additions and 1 deletion.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -217,7 +217,7 @@ private void configureButtonBindings() {
         operatorController
                 .povDown()
                         .whileTrue(
-                                IntakeCommands.flushIntake(intake)
+                                IntakeCommands.flushIntake(intake).alongWith(FeederCommands.flushFeeder(feeder))
                         );
 
 

diff --git a/src/main/java/frc/robot/commands/FeederCommands.java b/src/main/java/frc/robot/commands/FeederCommands.java
@@ -1,6 +1,8 @@
 package frc.robot.commands;
 
+import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.RunCommand;
 import frc.robot.subsystems.feeder.Feeder;
 
 import static edu.wpi.first.wpilibj2.command.Commands.run;
@@ -17,6 +19,14 @@ public static Command feedToShooter(Feeder feeder) {
         );
     }
 
+    public static Command flushFeeder(Feeder feeder){
+        return new RunCommand(
+                () -> {
+                    feeder.runVolts(-0.75);
+                },
+                feeder);
+    }
+
     public static Command feedToBeamBreak(Feeder feeder) {
         return sequence(
                 run(() -> feeder.runVolts(8), feeder)