Update at 'Mon May 19 20:42:43 EDT 2025'

Author: LTeixeira4909

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

@@ -270,9 +270,10 @@ private void configureBindings() {
 
         // joystick.x().onTrue(s_Elevator.goToL3A()).onFalse(s_Elevator.goToL1());
         //joystick.a().onTrue(s_Elevator.goToL2A()).onFalse(s_Elevator.goToL1());
-        joystick.povLeft().whileTrue(Commands.sequence(s_Elevator.goToL2A_wait(), Commands.parallel(s_Elevator.goToL2A().repeatedly(), Commands.sequence(s_Algae.extend(), s_Algae.intake(), s_Shooter.intake()))));
+        //joystick.povLeft().whileTrue(Commands.sequence(s_Elevator.goToL2A_wait(), Commands.parallel(s_Elevator.goToL2A().repeatedly(), Commands.sequence(s_Algae.extend(), s_Algae.intake(), s_Shooter.intake()))));
         //joystick.povRight().whileTrue(Commands.sequence(s_Elevator.goToL3A_wait(), Commands.parallel(s_Elevator.goToL3A().repeatedly(), Commands.sequence(s_Algae.extend(), s_Algae.intake(), ))));
         joystick.povRight().whileTrue(Commands.parallel(Commands.sequence(s_Algae.extend(), s_Algae.intake(), s_Shooter.intake())));
+        joystick.povLeft().whileTrue(Commands.parallel(Commands.sequence(s_Algae.almostextend(), s_Algae.intake(), s_Shooter.intake())));
         joystick.rightStick().onTrue(s_Algae.shoot()).onFalse(s_Algae.stopShooter());
         //joystick.back().whileTrue(s_Elevator.goToL1Intake().repeatedly().alongWith(s_Algae.intakeL1().andThen(s_Algae.shoot()))).onFalse(s_Algae.holdCoral().alongWith(s_Elevator.goToL1Shoot().repeatedly()));
         joystick.leftStick().whileTrue(s_Algae.shootL1low().andThen(s_Algae.slowShoot().andThen(s_Elevator.goToL1Shoot().repeatedly()))).onFalse(s_Algae.home().andThen(s_Algae.stopShooter().andThen(new WaitCommand(5).alongWith(s_Elevator.goToL1()))));

src/main/java/frc/robot/subsystems/algae/Algae.java

@@ -26,6 +26,7 @@ public class Algae extends SubsystemBase {
   private final AlgaeIOInputsAutoLogged m_inputs = new AlgaeIOInputsAutoLogged();
   private final double DownPosition = 0;
   private final double ExtendedPosition = -4;
+  private final double AlmostExtendedPosition = -2.3;
   private final double GroundIntake = 17;
   ;// 32.5
   private Timer m_StallTimer;
@@ -92,6 +93,13 @@ public Command extend() {
     }).withName("Extend");
   }
 
+  public Command almostextend() {
+    // return this.run(() -> m_io.gotosetpoint(L1Setpoint,m_gearRatio));
+    return this.runOnce(() -> {
+      m_io.gotosetpoint(AlmostExtendedPosition, m_gearRatio);
+    }).withName("Extend");
+  }
+
   public Command groundIntake() {
     return this.runOnce(() -> {
       m_io.gotosetpoint(GroundIntake, m_gearRatio);