From fad651948de94adf49bbf13bda8eddcc27675fe6 Mon Sep 17 00:00:00 2001 From: N/A Date: Thu, 26 Mar 2026 20:09:06 -0500 Subject: [PATCH 1/4] feat: add reverse transfer functionality --- src/main/java/frc/robot/RobotContainer.java | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index cfd02b9..9312187 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -292,6 +292,7 @@ public void configureBindings() { solverValid.onTrue( Commands.runOnce(() -> SmartDashboard.putBoolean("Turret/SolverValid", true)).ignoringDisable(true)).onFalse( Commands.runOnce(() -> SmartDashboard.putBoolean("Turret/SolverValid", false)).ignoringDisable(true)); + Trigger reverseTransferTrigger = new Trigger(() -> driverController.getXButton()); /* Shooter runs while button held */ shootTrigger.whileTrue( @@ -327,6 +328,9 @@ public void configureBindings() { intakePivot.raiseIntakeCommand(), intakeRoller.getStopCommand())); + reverseTransferTrigger.onTrue( + transferSubsystem.getSetPowerCommand(-1)); + // ========================= // Turret Offset Adjustment (POV Left / Right) // ============================== From fb63f426f6b582535a665bb72869879e19704b08 Mon Sep 17 00:00:00 2001 From: N/A Date: Fri, 27 Mar 2026 17:32:52 -0500 Subject: [PATCH 2/4] fix: correct reverse transfer toggle state --- src/main/java/frc/robot/RobotContainer.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 9312187..bc3feb1 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -328,7 +328,7 @@ public void configureBindings() { intakePivot.raiseIntakeCommand(), intakeRoller.getStopCommand())); - reverseTransferTrigger.onTrue( + reverseTransferTrigger.whileTrue( transferSubsystem.getSetPowerCommand(-1)); // ========================= From 5395ed541f5f0ba29bd24af3fbbb96bf47280976 Mon Sep 17 00:00:00 2001 From: N/A Date: Fri, 27 Mar 2026 17:54:43 -0500 Subject: [PATCH 3/4] fix: remove outdated merge conflict resolution --- src/main/java/frc/robot/RobotContainer.java | 7 +------ 1 file changed, 1 insertion(+), 6 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 2831178..564e779 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -281,13 +281,8 @@ public void configureBindings() { Trigger intakeTrigger = new Trigger(() -> driverController.getRightBumperButton()); - Trigger solverValid = new Trigger(() -> TurretSolver.solve(driveSubsystem.getPose(), driveSubsystem.getVelocity(), - targetingSupplier.get(), Constants.Turret.SOLVER_CONFIG).isValid()); - - solverValid.onTrue( - Commands.runOnce(() -> SmartDashboard.putBoolean("Turret/SolverValid", true)).ignoringDisable(true)).onFalse( - Commands.runOnce(() -> SmartDashboard.putBoolean("Turret/SolverValid", false)).ignoringDisable(true)); Trigger reverseTransferTrigger = new Trigger(() -> driverController.getXButton()); + // Driver X button: hold to lock robot pose (X-lock) Trigger xLockTrigger = new Trigger(() -> operatorController.getXButton()); xLockTrigger.whileTrue(driveSubsystem.getLockPoseCommand()); From b3528b33f1b15a4372755a96c41223a562f9db58 Mon Sep 17 00:00:00 2001 From: N/A Date: Sat, 28 Mar 2026 10:20:15 -0500 Subject: [PATCH 4/4] fix: terminate reverse transfer on button release --- src/main/java/frc/robot/RobotContainer.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 564e779..e402363 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -322,7 +322,7 @@ public void configureBindings() { intakeRoller.getStopCommand())); reverseTransferTrigger.whileTrue( - transferSubsystem.getSetPowerCommand(-1)); + transferSubsystem.getSetPowerCommand(-1)).onFalse(transferSubsystem.getSetPowerCommand(0)); // ========================= // Turret Offset Adjustment (POV Left / Right)