arm setpoint

src/main/java/frc/robot/Robot.java

@@ -29,8 +29,7 @@
 
 public class Robot extends CommandRobot {
   private final CommandXboxController m_driver = new CommandXboxController(Constants.driverport);
-  private final CommandXboxController m_codriver =
-      new CommandXboxController(Constants.codriverport);
+  private final CommandXboxController m_codriver = new CommandXboxController(Constants.codriverport);
 
   private final Arm m_arm = new Arm();
   private final Shooter m_shooter = new Shooter();
@@ -42,11 +41,10 @@ public class Robot extends CommandRobot {
   private final Superstructure m_superstructure = new Superstructure(m_shooter, m_intake, m_index);
   private static final CommandSwerveDrivetrain m_drivetrain = TunerConstants.DriveTrain;
 
-  private final SwerveRequest.FieldCentric m_drive =
-      new SwerveRequest.FieldCentric()
-          .withDeadband(Constants.DrivebaseMaxSpeed * 0.1)
-          .withRotationalDeadband(Constants.DrivebaseMaxAngularRate * 0.1)
-          .withDriveRequestType(DriveRequestType.OpenLoopVoltage);
+  private final SwerveRequest.FieldCentric m_drive = new SwerveRequest.FieldCentric()
+      .withDeadband(Constants.DrivebaseMaxSpeed * 0.1)
+      .withRotationalDeadband(Constants.DrivebaseMaxAngularRate * 0.1)
+      .withDriveRequestType(DriveRequestType.OpenLoopVoltage);
   private final SwerveRequest.SwerveDriveBrake m_brake = new SwerveRequest.SwerveDriveBrake();
   private final Telemetry m_logger = new Telemetry();
 
@@ -99,15 +97,14 @@ public Robot() {
 
     m_drivetrain.setDefaultCommand(
         m_drivetrain.applyRequest(
-            () ->
-                m_drive
-                    .withVelocityX(
-                        Utils.deadzone(-m_driver.getLeftY() * Constants.DrivebaseMaxSpeed))
-                    .withVelocityY(
-                        Utils.deadzone(-m_driver.getLeftX() * Constants.DrivebaseMaxSpeed))
-                    .withRotationalRate(
-                        Utils.deadzone(
-                            -m_driver.getRightX() * Constants.DrivebaseMaxAngularRate))));
+            () -> m_drive
+                .withVelocityX(
+                    Utils.deadzone(-m_driver.getLeftY() * Constants.DrivebaseMaxSpeed))
+                .withVelocityY(
+                    Utils.deadzone(-m_driver.getLeftX() * Constants.DrivebaseMaxSpeed))
+                .withRotationalRate(
+                    Utils.deadzone(
+                        -m_driver.getRightX() * Constants.DrivebaseMaxAngularRate))));
     m_intake.setDefaultCommand(m_superstructure.intake());
     m_shooter.setDefaultCommand(m_shooter.stop());
     m_index.setDefaultCommand(m_index.stop());
@@ -149,5 +146,8 @@ public Robot() {
               }
             });
     m_codriver.y().onTrue(m_superstructure.stop());
+    m_codriver.b().whileTrue(
+        m_arm.goToSetpoint(Setpoint.kShuttling)
+            .andThen(Commands.parallel(m_arm.maintain(), m_shooter.spinup(500).andThen(m_shooter.maintain()))));
   }
 }

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

@@ -41,7 +41,8 @@ public enum Setpoint {
     kAmp,
     kIntake,
     kSpeaker,
-    kStowed
+    kStowed,
+    kShuttling
   }
 
   private final CANSparkMax m_primaryMotor =
@@ -190,6 +191,7 @@ public Command goToSetpoint(Setpoint setpoint) {
       case kIntake -> position = 0.2;
       case kSpeaker -> position = 0.2;
       case kStowed -> position = 0.2;
+      case kShuttling -> position = 0.2;
     }
 
     return moveToPosition(position);