outeach mode: Bennet changes, fast mode has to be enabled through Out…

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SaintsRobotics · Dec 7, 2024 · 426ee6e · 426ee6e
1 parent 490de71
commit 426ee6e
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Showing 3 changed files with 20 additions and 13 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -41,7 +41,7 @@ public static final class DriveConstants {
     // TODO: set motor and encoder constants
     public static final int kFrontLeftDriveMotorPort = 32;
     public static final int kRearLeftDriveMotorPort = 29;
-    public static final int kFrontRightDriveMotorPort = 38;
+    public static final int kFrontRightDriveMotorPort = 36;
     public static final int kRearRightDriveMotorPort = 34;
 
     public static final int kFrontLeftTurningMotorPort = 28;
@@ -101,7 +101,7 @@ public static final class IntakeConstants {
     public static final int kArmEncoderChannel = 1;
 
     // In degrees
-    public static final double kIntakeLoweredAngle = -193;
+    public static final double kIntakeLoweredAngle = -188;
     public static final double kIntakeRaisedAngle = 0;
     public static final double kIntakeAmpScoringAngle = -71; // 193 - 100 (previous angle)
 

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -72,6 +72,12 @@ public class RobotContainer {
    * The container for the robot. Contains subsystems, IO devices, and commands.
    */
   public RobotContainer() {
+
+    SmartDashboard.putBoolean("fast", false);
+    SmartDashboard.putBoolean("shoot fast", false);
+
+
+
     NamedCommands.registerCommand("Shoot",
         new SequentialCommandGroup(
             new ShooterSetSpeedCommand(m_shooterSubsystem, ShootSpeed.Shooting, ShooterConstants.kShooterOnTime),
@@ -151,24 +157,21 @@ public RobotContainer() {
                     scaleJoysticks(-m_driverController.getLeftY(), -m_driverController.getLeftX()),
                     IOConstants.kControllerDeadband)
                     * DriveConstants.kMaxSpeedMetersPerSecond
-                    * (1 - m_driverController
-                        .getRightTriggerAxis()
+                    * (1 - (SmartDashboard.getBoolean("fast", false) ? m_driverController.getRightTriggerAxis() : 1)
                         * IOConstants.kSlowModeScalar),
                 // * 0.8,
                 MathUtil.applyDeadband(
                     scaleJoysticks(-m_driverController.getLeftX(), -m_driverController.getLeftY()),
                     IOConstants.kControllerDeadband)
                     * DriveConstants.kMaxSpeedMetersPerSecond
-                    * (1 - m_driverController
-                        .getRightTriggerAxis()
+                    * (1 - (SmartDashboard.getBoolean("fast", false) ? m_driverController.getRightTriggerAxis() : 1)
                         * IOConstants.kSlowModeScalar),
                 // * 0.8,
                 MathUtil.applyDeadband(
                     -m_driverController.getRightX(),
                     IOConstants.kControllerDeadband)
                     * DriveConstants.kMaxAngularSpeedRadiansPerSecond
-                    * (1 - m_driverController
-                        .getRightTriggerAxis()
+                    * (1 - (SmartDashboard.getBoolean("fast", false) ? m_driverController.getRightTriggerAxis() : 1)
                         * IOConstants.kSlowModeScalar)
                     * 0.7,
                 !m_driverController.getLeftBumper()),
@@ -202,7 +205,7 @@ private void configureBindings() {
 
     new JoystickButton(m_driverController, Button.kX.value)
         .onTrue(new SequentialCommandGroup(
-            new ShooterSetSpeedCommand(m_shooterSubsystem, ShootSpeed.Shooting, ShooterConstants.kShooterOnTime),
+            new ShooterSetSpeedCommand(m_shooterSubsystem, SmartDashboard.getBoolean("shoot fast", false) ? ShootSpeed.Shooting : ShootSpeed.Prep, ShooterConstants.kShooterOnTime),
             new ParallelDeadlineGroup(new WaitCommand(1), new NoteOuttakeCommand(m_intakeSubsystem))))
         .onFalse(new ShooterSetSpeedCommand(m_shooterSubsystem, ShootSpeed.Off, ShooterConstants.kShooterOffTime));
 
@@ -229,8 +232,8 @@ private void configureBindings() {
         .onTrue(new InstantCommand(() -> m_intakeSubsystem.resetHard()));
 
     // i better run
-    new JoystickButton(m_driverController, Button.kX.value)
-        .onTrue(new InstantCommand(() -> m_intakeSubsystem.daveImSorry()));
+    // new JoystickButton(m_driverController, Button.kX.value)
+    //     .onTrue(new InstantCommand(() -> m_intakeSubsystem.daveImSorry()));
 
     new JoystickButton(m_driverController, Button.kBack.value)
         .onTrue(new InstantCommand(() -> m_intakeSubsystem.heCantKillMeTwice()));
@@ -285,7 +288,7 @@ private void configureBindings() {
     // Spin up Shooter, Operator Controller Left Trigger
     new Trigger(() -> {
       return m_operatorController.getLeftTriggerAxis() > 0.5;
-    }).onTrue(new ShooterSetSpeedCommand(m_shooterSubsystem, ShootSpeed.Shooting, ShooterConstants.kShooterOnTime))
+    }).onTrue(new ShooterSetSpeedCommand(m_shooterSubsystem, SmartDashboard.getBoolean("shoot fast", false) ? ShootSpeed.Shooting : ShootSpeed.SlowShoot, ShooterConstants.kShooterOnTime))
         .onFalse(new ShooterSetSpeedCommand(m_shooterSubsystem, ShootSpeed.Off, ShooterConstants.kShooterOffTime));
 
     // Climber Up, Operator Controller Right Bumper + A Button

diff --git a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java
@@ -46,9 +46,12 @@ public void setShootingSpeed(ShootSpeed speed) {
         m_topSpeed = ShooterConstants.kShooterSpeedTop;
         m_bottomSpeed = ShooterConstants.kShooterSpeedBottom;
         break;
+      case SlowShoot:
+        // m_topSpeed = 
       case Amp:
         m_topSpeed = 0.2;
         m_bottomSpeed = 0.3;
+        break;
       case Prep:
         m_topSpeed = ShooterConstants.kPrepShooterSpeed;
         m_bottomSpeed = ShooterConstants.kPrepShooterSpeed;
@@ -80,6 +83,7 @@ public static enum ShootSpeed {
     Shooting,
     Prep,
     Amp,
-    Off
+    Off,
+    SlowShoot
   }
 }