Auton comp changes (#39)

* removed quadratic scaling on drive rotation * untested, will test in match, 4 note change * fixed 4 note first note * increased shooter on time * feat: amp changes from comp --------- Co-authored-by: ProgrammingSR <[email protected]>
SaintsRobotics · Mar 26, 2024 · 2c197d2 · 2c197d2
1 parent 4861042
commit 2c197d2
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Showing 6 changed files with 17 additions and 10 deletions.
diff --git a/src/main/deploy/pathplanner/autos/4-Center-Stays.auto b/src/main/deploy/pathplanner/autos/4-Center-Stays.auto
@@ -2,7 +2,7 @@
   "version": 1.0,
   "startingPose": {
     "position": {
-      "x": 1.3470318873095533,
+      "x": 1.4,
       "y": 5.5216374597852385
     },
     "rotation": 0

diff --git a/src/main/deploy/pathplanner/paths/CenterNote-Center.path b/src/main/deploy/pathplanner/paths/CenterNote-Center.path
@@ -3,12 +3,12 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 1.3470318873095533,
+        "x": 1.4,
         "y": 5.5216374597852385
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.3470318873095533,
+        "x": 2.4,
         "y": 5.5216374597852385
       },
       "isLocked": false,

diff --git a/src/main/deploy/pathplanner/paths/Middle5thNote-Right.path b/src/main/deploy/pathplanner/paths/Middle5thNote-Right.path
@@ -17,15 +17,15 @@
     {
       "anchor": {
         "x": 8.05,
-        "y": 0.7104198823782273
+        "y": 0.6
       },
       "prevControl": {
         "x": 7.050000000000001,
-        "y": 0.7104198823782273
+        "y": 0.6
       },
       "nextControl": {
         "x": 9.049999999999988,
-        "y": 0.7104198823782273
+        "y": 0.6
       },
       "isLocked": false,
       "linkedName": null

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -12,7 +12,6 @@
 
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.wpilibj.DriverStation;
-import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.XboxController.Button;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
@@ -65,8 +64,8 @@ public class RobotContainer {
   public RobotContainer() {
     NamedCommands.registerCommand("Shoot",
         new SequentialCommandGroup(
-            new ShooterSetSpeedCommand(m_shooterSubsystem, ShootSpeed.Shooting, ShooterConstants.kShooterOnTime),
-            new ParallelDeadlineGroup(new WaitCommand(0.25), new NoteOuttakeCommand(m_intakeSubsystem)),
+            new ShooterSetSpeedCommand(m_shooterSubsystem, ShootSpeed.Shooting, 1.5),
+            new ParallelDeadlineGroup(new WaitCommand(0.50), new NoteOuttakeCommand(m_intakeSubsystem)),
             new ShooterSetSpeedCommand(m_shooterSubsystem, ShootSpeed.Off, ShooterConstants.kShooterOffTime)));
 
     NamedCommands.registerCommand("Intake",
@@ -217,6 +216,11 @@ private void configureBindings() {
     }).onTrue(new ShooterSetSpeedCommand(m_shooterSubsystem, ShootSpeed.Shooting, ShooterConstants.kShooterOnTime))
         .onFalse(new ShooterSetSpeedCommand(m_shooterSubsystem, ShootSpeed.Off, ShooterConstants.kShooterOffTime));
 
+    new Trigger(() -> {
+      return m_operatorController.getXButtonPressed() == true;
+    }).onTrue(new ShooterSetSpeedCommand(m_shooterSubsystem, ShootSpeed.Amp, 0.1))
+        .onFalse(new ShooterSetSpeedCommand(m_shooterSubsystem, ShootSpeed.Off, 0.02));
+
     // Climber Up, Operator Controller Right Bumper + A Button
     new Trigger(() -> {
       return m_operatorController.getAButton() && m_operatorController.getRightBumper();

diff --git a/src/main/java/frc/robot/commands/NoteOuttakeCommand.java b/src/main/java/frc/robot/commands/NoteOuttakeCommand.java
@@ -4,7 +4,6 @@
 
 package frc.robot.commands;
 
-import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.IntakeSubsystem;
 

diff --git a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java
@@ -42,6 +42,9 @@ public void setShootingSpeed(ShootSpeed speed) {
         m_topSpeed = ShooterConstants.kShooterSpeedTop;
         m_bottomSpeed = ShooterConstants.kShooterSpeedBottom;
         break;
+      case Amp:
+        m_topSpeed = 0.2;
+        m_bottomSpeed = 0.3;
       case Prep:
         m_topSpeed = ShooterConstants.kPrepShooterSpeed;
         m_bottomSpeed = ShooterConstants.kPrepShooterSpeed;
@@ -70,6 +73,7 @@ public void periodic() {
   public static enum ShootSpeed {
     Shooting,
     Prep,
+    Amp,
     Off
   }
 }