StateL2 Command

A command sequence that automates the process of placing game pieces at Level 2 scoring positions. This command coordinates multiple subsystems and uses a through-eject mechanism for more forceful piece placement.

Subsystem Requirements

• Elevator Subsystem
• Wrist Subsystem
• Coral Intake Subsystem

Constructor Parameters

public StateL2(
    ElevatorSubsystem elevatorSubsystem,
    WristSubsystem wristSubsystem,
    CoralIntakeSubsystem coralIntakeSubsystem,
    Trigger coralIntakeReleaseTrigger)

• elevatorSubsystem: Controls vertical movement of the mechanism
• wristSubsystem: Controls angular position of the intake
• coralIntakeSubsystem: Controls the intake rollers
• coralIntakeReleaseTrigger: Button trigger that initiates piece release

Configuration Requirements

1. All subsystems must have proper setpoints defined in their respective Constants files:

   • ElevatorConstants.Setpoints.L2_PLACE
   • WristConstants.Setpoints.L2_PLACE
   • CoralIntakeConstants.Setpoints.OpenLoop.EJECT_PERCENTAGE

2. Default commands should be configured for all subsystems since the command uses proxy commands

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