Add shooter distance adjustment option

Author: cascaade

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

@@ -153,19 +153,18 @@ private void configureBindings() {
             driverController::getRightX, // omega
             driverController::getRightTriggerAxis // raw slow input
         ));
-
         auxController.x().onTrue(swerve.runToggleAimHub());
-
         driverController.y().onTrue(swerve.runZeroGyro());
         driverController.x().onTrue(swerve.runToggleToXPosition());
         driverController.b().onTrue(swerve.runReconfigure());
 
         shooter.setDefaultCommand(shooter.runShooterIdle());
         driverController.rightBumper().whileTrue(shooter.runAllFromNetworkSpeed());
+        auxController.x().onTrue(shooter.incrementShooterDistanceAdjust(true));
+        auxController.y().onTrue(shooter.incrementShooterDistanceAdjust(false));
 
         intake.setDefaultCommand(intake.runRollers());
         driverController.a().onTrue(intake.toggleWristPose());
-
         auxController.a().onTrue(intake.incrementWristSetpointAdjust(true));
         auxController.b().onTrue(intake.incrementWristSetpointAdjust(false));
     }

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

@@ -24,6 +24,8 @@ public class Shooter extends SubsystemBase {
 
     private final ShooterIOInputsAutoLogged[] shooterInputs = new ShooterIOInputsAutoLogged[5];
 
+    private double shooterDistanceAdjust = 0;
+
     public Shooter(ShooterIO shooterIOL, ShooterIO shooterIOM, ShooterIO shooterIOR, ShooterIO feederIO, ShooterIO indexIO) {
         this.shooterIOL = shooterIOL;
         this.shooterIOM = shooterIOM;
@@ -37,7 +39,7 @@ public Shooter(ShooterIO shooterIOL, ShooterIO shooterIOM, ShooterIO shooterIOR,
     }
 
     private void shootWithDistance(double distanceMeters) {
-        double shooterVelocityRadPerSec = HubShootLUT.getFlywheelSpeedAtDistance(distanceMeters);
+        double shooterVelocityRadPerSec = HubShootLUT.getFlywheelSpeedAtDistance(distanceMeters + shooterDistanceAdjust);
         double feederVelocityRadPerSec = shooterVelocityRadPerSec * ShooterConstants.feederMotorMult;
 
         shooterIOL.setVelocityClosedLoop(shooterVelocityRadPerSec);
@@ -47,6 +49,16 @@ private void shootWithDistance(double distanceMeters) {
         indexIO.setVelocityClosedLoop(feederVelocityRadPerSec);
     }
 
+    public Command incrementShooterDistanceAdjust(boolean positive) {
+        return runOnce(() -> {
+            if (positive) {
+                shooterDistanceAdjust += 0.2;
+            } else {
+                shooterDistanceAdjust -= 0.2;
+            }
+        });
+    }
+
     public Command runStopShooter() {
         return run(() -> {
             shooterIOL.stop();