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Team2168 / 2020_SwerveBot

Repo for development of field oriented swerve chassis tests
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FireBalls command doesn't make sense #85

Open jcorcoran opened 3 years ago

jcorcoran commented 3 years ago

(2020_Main_Robot](https://github.com/Team2168/2020_Main_Robot/blob/master/src/main/java/org/team2168/commands/auto/robotFunctions/FireBalls.java#L40):

    addSequential(new WaitForShooterAtSpeed());
    addSequential(new DriveIndexerWithConstantNoStop(1.0), 0.5); 
    addParallel(new DriveIndexerWithConstant(1.0));
    addParallel(new DriveHopperWithConstant(0.8));
    addParallel(new DriveIntakeWithConstant(0.2));

(2020_Swerve_Robot)[https://github.com/Team2168/2020_SwerveBot/blob/PII_develop/src/main/java/org/team2168/commands/auto/robotFunctions/FireBalls.java#L41]:

    addParallel(new DriveHopperWithConstant(RobotMap.HOPPER_SPEED));
    addSequential(new WaitForShooterAtSpeed());
    addSequential(new DriveIndexerWithConstantNoStop(RobotMap.INDEXER_SPEED), 0.5);
    addParallel(new DriveIndexerWithConstant(RobotMap.INDEXER_SPEED));
    addParallel(new DriveIntakeWithConstant(RobotMap.INTAKE_SPEED_SLOW));

Hopper is run regardless of shooter being at speed, and while the intake is stopped? Best case this is going to lead to jams

Maybe this was a code mod made for older rev of hopper hardware (w/ brushes)?