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… for autonomous shooting
Hannahjjj97
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Feb 22, 2026
src/main/java/frc/robot/commandgroups/AutoShootCommandGroup.java
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Hannahjjj97
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Feb 24, 2026
kennhung
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Feb 25, 2026
BrianHu0925
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Feb 25, 2026
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| mainController.rightBumper().whileTrue( | ||
| Commands.either( | ||
| new AutoAlignCmd(shooterTracker, swerveDrive) | ||
| .andThen(new ShooterComboCmd(shooterSubsystem, transportSubsystem)), | ||
| Commands.none(), | ||
| () -> shooterTracker.isHubTag())); |
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想提個小想法？就是現在這樣是一定要先到了位置之後才開始那個 ShooterComboCmd，我在想或許可以在前面先偷用一個shootCmd讓它偷跑，用alongWith 串起來，這樣 andThen 後面開始的時候，如果轉速夠了，他就可以直接射出，可以增加效率之類的？我不知道我這樣講可不可行
…en 後面開始的時候，如果轉速夠了，就可以直接射出，增加效率
BrianHu0925
reviewed
Mar 2, 2026
| Commands.either( | ||
| shooterSubsystem.shootCmd() | ||
| .alongWith(new AutoAlignCmd(shooterTracker, swerveDrive)) | ||
| .andThen(new ShooterComboCmd(shooterSubsystem, transportSubsystem)), |
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這個 andThen 應該要直接接在 AutoAlignCmd 後面？這樣才會對準完就執行
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