Merge branch 'main' of https://github.com/RobotsByTheC/CMonster2024

RobotsByTheC · Mar 6, 2024 · 20a4463 · 20a4463
2 parents f871c65 + a6697b8
commit 20a4463
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diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
@@ -162,6 +162,7 @@ private void configureButtonBindings() {
                 .andThen(drive.sysIdDynamic(Direction.kReverse))
                 .andThen(drive.sysIdQuasistatic(Direction.kReverse)));
     new JoystickButton(driverController, PS4Controller.Button.kCircle.value).whileTrue(intake.spinReverseCommand());
+    new JoystickButton(driverController, PS4Controller.Button.kR3.value).whileTrue(shooter.ampCommand());
   }
 
   /**

diff --git a/src/main/java/frc/robot/subsystems/drive/swerve/MAXSwerveModuleIO.java b/src/main/java/frc/robot/subsystems/drive/swerve/MAXSwerveModuleIO.java
@@ -174,7 +174,7 @@ public double getTurnVoltage() {
     return turningSparkMax.getAppliedOutput();
   }
   private SwerveModuleState targetState = new SwerveModuleState(0, Rotation2d.fromDegrees(0));
-
+  
   @Override
   public void setDrivingMotorVoltage(Measure<Voltage> v) {
     drivingSparkMax.setVoltage(v.in(Volts));