Adding default shots

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

@@ -372,23 +372,19 @@ private void configureButtonBindings() {
     //               intake.simBalls = 0;
     //             }));
 
-    // Shoot
-    controller.leftTrigger().whileTrue(shooter.runFlywheel(RotationsPerSecond.of(67)));
-    controller.leftTrigger().onFalse(shooter.runFlywheel(RotationsPerSecond.of(0)));
-
-    // Feed
+    // Feed and Shoot
     controller
         .leftBumper()
         .whileTrue(
             Commands.parallel(
-                shooter.runTower(RotationsPerSecond.of(40)),
-                hopper.runSpindexer(RotationsPerSecond.of(20)),
+                shooter.score(),
+                hopper.runSpindexer(RotationsPerSecond.of(15)),
                 intake.intake()));
     controller
         .leftBumper()
         .onFalse(
             Commands.parallel(
-                shooter.runTower(RotationsPerSecond.of(0)),
+                shooter.stopScore(),
                 hopper.runSpindexer(RotationsPerSecond.of(0)),
                 Commands.run(() -> intake.stop())));
 
@@ -415,12 +411,12 @@ private void configureButtonBindings() {
     // controller.povDown().whileTrue(climber.lowerClimber());
     // controller.povDown().onFalse(climber.stopClimber());
 
-    controller.povLeft().onTrue(intake.zeroEncoder());
+    // controller.povLeft().onTrue(intake.zeroEncoder());
 
     // Testing Commands
-    // controller.povLeft().onTrue(shooter.setHoodAngle(6.8));
-    // controller.povDown().onTrue(shooter.setHoodAngle(12.1));
-    // controller.povRight().onTrue(shooter.setHoodAngle(18.6));
+    controller.povUp().onTrue(shooter.setHoodAngle(2.3));
+    controller.povRight().onTrue(shooter.setHoodAngle(8));
+    controller.povDown().onTrue(shooter.setHoodAngle(9.8));
 
     // controller.povLeft().onTrue(shooter.setAngleForDistance(2.0));
   }

src/main/java/frc/robot/generated/TunerConstants.java

@@ -57,7 +57,7 @@ public class TunerConstants {
   // When not Pro-licensed, Fused*/Sync* automatically fall back to Remote*
   private static final SteerFeedbackType kSteerFeedbackType = SteerFeedbackType.FusedCANcoder;
 
-  // The stator current at which the wheels start to slip;
+  // The stator current at which the wheels start to slip
   // This needs to be tuned to your individual robot
   private static final Current kSlipCurrent = Amps.of(120);
 

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

@@ -4,6 +4,7 @@
 import static edu.wpi.first.units.Units.Degrees;
 import static edu.wpi.first.units.Units.Meters;
 import static edu.wpi.first.units.Units.Radians;
+import static edu.wpi.first.units.Units.Rotation;
 import static edu.wpi.first.units.Units.RotationsPerSecond;
 import static edu.wpi.first.units.Units.Volts;
 
@@ -186,6 +187,14 @@ public Command runTower(AngularVelocity velocity) {
     return Commands.run(() -> runFeeder(velocity), this);
   }
 
+  public Command score() {
+    return Commands.run(() -> {runFeeder(RotationsPerSecond.of(30)); setFlywheelVelocity(RotationsPerSecond.of(67));});
+  }
+
+  public Command stopScore() {
+    return Commands.run(() -> {runFeeder(RotationsPerSecond.of(0)); setFlywheelVelocity(RotationsPerSecond.of(0));});
+  }
+
   public void simShoot() {
     if (Robot.robotContainer.intake.simBalls <= 0) return;