From 9369a617f4b94fa628667df34b38a6307b020da6 Mon Sep 17 00:00:00 2001 From: Noah-H3467 Date: Sat, 15 Feb 2025 16:31:16 -0500 Subject: [PATCH] Stow arm and elevator after scoring --- src/main/java/frc/robot/RobotContainer.java | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 5851948..fca5dd7 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -350,7 +350,10 @@ private void configureControllerBindings() // Driver Right Trigger: Place Coral or Algae (Should be done once the robot is in position) m_driver.rightTrigger() - .whileTrue(m_clawRoller.setStateCommand(ClawRoller.State.SCORE)); + .whileTrue(Commands.parallel( + m_clawRoller.setStateCommand(ClawRoller.State.SCORE), + Commands.sequence(Commands.waitSeconds(1.5), + m_superStruct.getTransitionCommand(Arm.State.STOW, Elevator.State.STOW)))); // Driver Left Trigger: Drivetrain drive at coral station angle, prepare the elevator and // arm, Get Ready to Intake Coral