Bloop

Author: JoshuaAN

src/main/java/frc/robot/RobotContainer.java

@@ -31,6 +31,7 @@
 
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj2.command.button.Button;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj.util.Color;
 import edu.wpi.first.wpilibj2.command.Command;
@@ -350,6 +351,13 @@ public void configureButtonBindings() {
       new JoystickButton(operator,9).and(new JoystickButton(operator,10))
       .whenActive(new ResetHood(mShooter));
 
+      new Button() {
+        @Override
+        public boolean get() {
+          return (operator.getPOV() == 0);
+        }
+      }.whenPressed(new PresetFlywheelController(mShooter, "BLP"));
+
         // .and(new JoystickButton(operator, X_BOX_LOGO_LEFT))
         // .whenActive(new ToggleClimber(mClimber));
     }

src/main/java/frc/robot/shooter/commands/PresetFlywheelController.java

@@ -32,6 +32,10 @@ public void initialize() {
                 this.rpm = Preferences.getInt("TUR.Velocity", 1625);
                 this.hoodAngle = Preferences.getDouble("TUR.Angle", 65.0); // tarmac, upper goal, rear shot    
                 break;
+            case "BLP":
+                this.rpm = Preferences.getInt("BLP.Velocity", 500);
+                this.hoodAngle = Preferences.getDouble("BLP.Angle", 60.0); // tarmac, upper goal, rear shot    
+                break;
             default:
                 this.rpm = 500;
                 this.hoodAngle = 80.0;