Merge pull request #50 from frc937/limit-switch-workaround

Limit switch workaround

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

@@ -27,6 +27,7 @@
 import frc.robot.commands.mailbox.DeployMailbox;
 import frc.robot.commands.mailbox.DeployPneumatics;
 import frc.robot.commands.mailbox.FireNoteRoutine;
+import frc.robot.commands.mailbox.FireNoteRoutineNoLimitSwitch;
 import frc.robot.commands.mailbox.RunBelts;
 import frc.robot.subsystems.Drive;
 import frc.robot.subsystems.Intake;
@@ -85,6 +86,8 @@ public class RobotContainer {
   private DeployMailbox deployMailbox = new DeployMailbox();
   private DeindexNote deindexNote = new DeindexNote();
   private FireNoteRoutine fireNote = new FireNoteRoutine();
+  private FireNoteRoutineNoLimitSwitch fireNoteRoutineNoLimitSwitch =
+      new FireNoteRoutineNoLimitSwitch();
   private RunIntake runIntake = new RunIntake();
   private AimWithLimelight aimToAmp =
       new AimWithLimelight(
@@ -134,8 +137,10 @@ private void configureBindings() {
     driverController.leftStick().toggleOnTrue(driveFieldOriented);
 
     driverController.x().onTrue(enterXMode);
-    driverController.a().onTrue(runIntake);
     driverController.y().onTrue(fireNote);
+    driverController.a().onTrue(runIntake);
+    driverController.rightTrigger().onTrue(deployMailbox);
+    driverController.b().onTrue(fireNoteRoutineNoLimitSwitch);
   }
 
   /**

src/main/java/frc/robot/commands/mailbox/FireNoteRoutineNoLimitSwitch.java

@@ -0,0 +1,26 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+/*
+ * Asimov's Laws:
+ * The First Law: A robot may not injure a human being or, through inaction, allow a human being to come to harm.
+ * The Second Law: A robot must obey the orders given it by human beings except where such orders would conflict with the First Law.
+ * The Third Law: A robot must protect its own existence as long as such protection does not conflict with the First or Second Law.
+ */
+
+package frc.robot.commands.mailbox;
+
+import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
+import frc.robot.commands.RunIntake;
+
+/**
+ * Scores the note into the amp. Raises the mailbox, runs the mailbox belts, and then runs the index
+ * belts to send the note into the belts without a limit switch.
+ */
+public class FireNoteRoutineNoLimitSwitch extends ParallelCommandGroup {
+  /** Creates a new FireNoteRoutineNoLimitSwitch. */
+  public FireNoteRoutineNoLimitSwitch() {
+    addCommands(new DeployMailbox(), new RunIntake());
+  }
+}