pressing in rightStick sends the RMP

Author: devinisaperson

src/main/java/frc/robot/BuildConstants.java

@@ -5,12 +5,21 @@ public final class BuildConstants {
   public static final String MAVEN_GROUP = "";
   public static final String MAVEN_NAME = "2024RobotCode";
   public static final String VERSION = "unspecified";
+<<<<<<< Updated upstream
   public static final int GIT_REVISION = 357;
   public static final String GIT_SHA = "3ef842811300f6ae93f92b9acc1813edc4af7f2f";
   public static final String GIT_DATE = "2024-10-19 17:38:18 EDT";
   public static final String GIT_BRANCH = "bloomfield";
   public static final String BUILD_DATE = "2024-10-19 18:17:32 EDT";
   public static final long BUILD_UNIX_TIME = 1729376252676L;
+=======
+  public static final int GIT_REVISION = 359;
+  public static final String GIT_SHA = "34f1402c7f7ff5c12d12c6dcd907953b5f3c70ea";
+  public static final String GIT_DATE = "2025-05-15 18:52:07 EDT";
+  public static final String GIT_BRANCH = "outreach";
+  public static final String BUILD_DATE = "2025-05-15 19:14:04 EDT";
+  public static final long BUILD_UNIX_TIME = 1747350844263L;
+>>>>>>> Stashed changes
   public static final int DIRTY = 1;
 
   private BuildConstants() {}

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

@@ -53,6 +53,7 @@
 import frc.robot.commands.SetShooterTargetRPM;
 import frc.robot.commands.ShootNoteAmp;
 import frc.robot.commands.ShootNoteCenter;
+import frc.robot.commands.ShootNoteFAR;
 import frc.robot.commands.ShootNoteSource;
 import frc.robot.commands.StopIntakeFeed;
 import frc.robot.commands.TurnToAmpCorner;
@@ -138,6 +139,7 @@ public class RobotContainer {
   private Trigger driveAButton;
   private Trigger driveXButton;
   private Trigger driveBButton;
+  private Trigger driveBothSticks;
 
   private final LoggedDashboardNumber flywheelSpeed = new LoggedDashboardNumber("fly speed", 5400);
 
@@ -672,6 +674,10 @@ private void driverControls() {
     driveAButton.onTrue(climbCommands);
 
     driveXButton.onTrue(trapCommands);
+
+    driveController
+        .rightStick()
+        .onTrue(new ShootNoteFAR(shooter));
   }
 
   private void manipControls() {

src/main/java/frc/robot/commands/ShootNoteFAR.java

@@ -0,0 +1,28 @@
+// 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.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.InstantCommand;
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
+import edu.wpi.first.wpilibj2.command.WaitCommand;
+import frc.robot.subsystems.shooter.Shooter;
+
+// NOTE:  Consider using this command inline, rather than writing a subclass.  For more
+// information, see:
+// https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
+public class ShootNoteFAR extends SequentialCommandGroup {
+  /** Creates a new ShootNote. */
+  public ShootNoteFAR(Shooter shooter) {
+    // Add your commands in the addCommands() call, e.g.
+    // addCommands(new FooCommand(), new BarCommand());
+    addCommands(
+        new InstantCommand(() -> shooter.setFlywheelRPMs(6000, 6000)),
+        new WaitCommand(1),
+        new InstantCommand(() -> shooter.setFeedersRPM(4000)),
+        new WaitCommand(0.5),
+        new InstantCommand(shooter::stopFeeders, shooter),
+        new InstantCommand(shooter::stopFlywheels, shooter));
+  }
+}