button

redshiftrobotics · Feb 29, 2024 · 3f9cac9 · 3f9cac9
1 parent 1dbcb6b
commit 3f9cac9
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -7,6 +7,7 @@
 import frc.robot.commands.Autos;
 import frc.robot.commands.AimAtTag;
 import frc.robot.commands.ArmRotateTo;
+import frc.robot.commands.AutoPosition;
 import frc.robot.commands.ChassisRemoteControl;
 import frc.robot.Constants.VisionConstants;
 import frc.robot.subsystems.SwerveDrivetrain;
@@ -164,7 +165,7 @@ public void setUpDriveController() {
 			xbox.povUp().onTrue(Commands.runOnce(inputs::increaseSpeedLevel));
 			xbox.button(3).onTrue(Commands.runOnce(inputs::toggleFieldRelative));
 
-			xbox.a().whileTrue(new AimAtTag(drivetrain, vision, 1, inputs));
+			xbox.a().whileTrue(new AutoPosition(drivetrain, vision));
 		}
 
 		drivetrain.setDefaultCommand(new ChassisRemoteControl(drivetrain, inputs));
@@ -183,3 +184,4 @@ public Command getAutonomousCommand() {
 		return autoChooser.getSelected();
 	}
 }
+;