button mappings and shoot speed

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

@@ -167,16 +167,14 @@ private void configureXboxControllerBindings() {
 
   /** Binds commands to the operator stick. */
   private void configureOperatorStickBindings() {
-    // TODO: bind scoreSpeaker to use shooting math
-    Trigger scoreSpeaker = new Trigger(operatorStick::scoreSpeaker);
-    // scoreSpeaker.onTrue(new ShootSpeaker());
-    scoreSpeaker.onTrue(
+    Trigger shootManual = new Trigger(operatorStick::shootManual);
+    shootManual.onTrue(
       new RampShooter(() -> 15)
       .andThen(
         new InstantCommand(() -> RobotContainer.shooter.feed(), RobotContainer.shooter)
       )
     );
-    scoreSpeaker.onFalse(new InstantCommand(() -> {
+    shootManual.onFalse(new InstantCommand(() -> {
       RobotContainer.shooter.stopShooting();
       RobotContainer.shooter.stopIndexer();
     }, RobotContainer.shooter));
@@ -206,22 +204,24 @@ private void configureOperatorStickBindings() {
 
     Trigger retractIntake = new Trigger(() -> operatorStick.retractIntake() && RobotContainer.arm.isArmClearingIntake());
     retractIntake.onTrue(new SetIntakeState(IntakeState.kUp));
+
+    Trigger midIntake = new Trigger(operatorStick::midIntake);
+    midIntake.onTrue(new SetIntakeState(IntakeState.kMid));
 
-    Trigger intakeNoteSetpoint = new Trigger(() -> operatorStick.intakeNoteSetpoint());
-    intakeNoteSetpoint.onTrue(
+    Trigger handoffArm = new Trigger(operatorStick::handoffArm);
+    handoffArm.onTrue(
       new SetIntakeState(IntakeState.kDown)
       .andThen(new SetShooterState(ShooterState.kIntake).alongWith(new SetArmState(ArmState.kIntake)))
     );
 
-    Trigger ampSetpoint = new Trigger(operatorStick::ampSetpoint);
-    ampSetpoint.onTrue(new SetArmState(ArmState.kAmp).alongWith(new SetShooterState(ShooterState.kAmp)));
+    Trigger ampArm = new Trigger(operatorStick::ampArm);
+    ampArm.onTrue(new SetArmState(ArmState.kAmp).alongWith(new SetShooterState(ShooterState.kAmp)));
 
-    // TODO: test subwoofer shot for auto then put this back to kShoot setpoint
-    Trigger shootSetpoint = new Trigger(() -> operatorStick.shootSetpoint() && RobotContainer.intake.isIntakeDown());
-    shootSetpoint.onTrue(new SetArmState(ArmState.kShootFromSubwoofer).alongWith(new SetShooterState(ShooterState.kShootFromSubwoofer)));
+    Trigger subwooferArm = new Trigger(() -> operatorStick.subwooferArm() && RobotContainer.intake.isIntakeDown());
+    subwooferArm.onTrue(new SetArmState(ArmState.kShootFromSubwoofer).alongWith(new SetShooterState(ShooterState.kShootFromSubwoofer)));
 
-    Trigger stowSetpoint = new Trigger(operatorStick::stowSetpoint);
-    stowSetpoint.onTrue(
+    Trigger stowArm = new Trigger(operatorStick::stowArm);
+    stowArm.onTrue(
       (new SetArmState(ArmState.kStow).alongWith(new SetShooterState(ShooterState.kIntake)))
       .andThen(new SetIntakeState(IntakeState.kUp))
     );

src/main/java/frc/robot/commands/shooter/ShootSpeaker.java

@@ -19,7 +19,7 @@ public class ShootSpeaker extends Command {
   Alliance color;
   boolean hasAlliance, hasNoteInitially;
   double targetX, targetY, targetZ;
-  final double v0 = 20;
+  final double v0 = 15;
   boolean goodTrajectory = true;
   Timer timer;
 

src/main/java/frc/robot/hid/OperatorStick.java

@@ -16,7 +16,7 @@ public boolean intakeNote() {
     return getPOV() == 180;
   }
 
-  public boolean scoreSpeaker() {
+  public boolean shootManual() {
     return this.getRawButton(1);
   }
 
@@ -25,26 +25,38 @@ public boolean scoreAmp() {
   }
 
   public boolean deployIntake() {
-    return this.getRawButton(5);
+    return this.getRawButton(16);
   }
 
-  public boolean stowSetpoint() {
-    return this.getRawButton(7);
+  public boolean retractIntake() {
+    return this.getRawButton(14);
   }
 
-  public boolean ampSetpoint() {
-    return this.getRawButton(8);
+  public boolean midIntake() {
+    return this.getRawButton(15);
   }
 
-  public boolean shootSetpoint() {
-    return this.getRawButton(9);
+  public boolean ampArm() {
+    return this.getRawButton(5);
+  }
+
+  public boolean stowArm() {
+    return this.getRawButton(6);
   }
 
-  public boolean intakeNoteSetpoint() {
+  public boolean handoffArm() {
+    return this.getRawButton(7);
+  }
+
+  public boolean subwooferArm() {
     return this.getRawButton(10);
   }
 
-  public boolean retractIntake() {
-    return this.getRawButton(11);
+  public boolean podiumArm() {
+    return this.getRawButton(9);
+  }
+
+  public boolean levelArm() {
+    return this.getRawButton(8);
   }
 }

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

@@ -110,7 +110,7 @@ public boolean hasNoteInside() {
 
   public enum IntakeState {
     kUp(0.44),
-    kMid(0.22),
+    kMid(0.2),
     kDown(0);
 
     public final double rotations;

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

@@ -62,7 +62,7 @@ public class Shooter extends SubsystemBase {
   private final double SHOOTER_PIVOT_TO_END = 0.37516;
   private final Translation3d SHOOTER_PIVOT_ROBOT_REL = new Translation3d(-0.2757, 0, 0.5972);
 
-  private final double v0 = 20;
+  private final double v0 = 15;
 
   private final double kShooterP = 1;
   private final double kShooterI = 0.01;