Nominal velocity when active

Author: blaze-developer

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

@@ -9,6 +9,7 @@
 import static edu.wpi.first.units.Units.Meters;
 import static edu.wpi.first.units.Units.MetersPerSecond;
 import static edu.wpi.first.units.Units.RadiansPerSecond;
+import static edu.wpi.first.units.Units.RotationsPerSecond;
 
 import java.lang.StackWalker.Option;
 import java.util.Arrays;
@@ -303,7 +304,10 @@ private void configureBindings() {
             .whileTrue(RobotCommands.shoot(shooter_, hopper_, intake_, drivebase_));
 
         // When the shooter isnt shooting, get it ready to shoot.
-        shooter_.setDefaultCommand(shooter_.idleCommand());
+        shooter_.setDefaultCommand(shooter_.spinUpVelocityCommand(() -> {
+            var shift = HubShiftUtil.getOfficialShiftInfo();
+            return shift.active() ? RotationsPerSecond.of(50) : RotationsPerSecond.zero();
+        }));
 
         //While the X button is held, the intake will run the eject sequence. If it the intake is stowed, it will also deploy it.
 

src/main/java/frc/robot/subsystems/shooter/Shooter.java

@@ -327,15 +327,12 @@ public Command ejectUp() {
         return startEnd(() -> setShooterVelocity(ShooterConstants.ejectVelocity), this::stopShooter);
     }
 
-    /**
-     * Idles the shooter at 0 velocity and the hood at the parked position.
-     * @return
-     */
-    public Command idleCommand() {
-        return runToSetpointsCmd(
-            RotationsPerSecond.of(0.0),
-            ShooterConstants.hoodParkedAngle
-        );
+    public Command spinUpSetpointsCommand(Supplier<AngularVelocity> velocity, Angle hoodAngle) {
+        return run(() -> setSetpoints(velocity.get(), hoodAngle));
+    }
+
+    public Command spinUpSetpointsCommand(Supplier<AngularVelocity> velocity) {
+        return run(() -> setSetpoints(velocity.get(), ShooterConstants.hoodParkedAngle));
     }
 
     /**