WIP

SaintsRobotics · Mar 12, 2024 · 80bf546 · 80bf546
1 parent 3dd18a2
commit 80bf546
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Showing 4 changed files with 19 additions and 25 deletions.
diff --git a/src/main/deploy/pathplanner/autos/4-Center-Stays.auto b/src/main/deploy/pathplanner/autos/4-Center-Stays.auto
@@ -22,16 +22,9 @@
           "data": {
             "commands": [
               {
-                "type": "sequential",
+                "type": "path",
                 "data": {
-                  "commands": [
-                    {
-                      "type": "path",
-                      "data": {
-                        "pathName": "CenterNote-Center"
-                      }
-                    }
-                  ]
+                  "pathName": "CenterNote-Center"
                 }
               },
               {
@@ -60,16 +53,9 @@
           "data": {
             "commands": [
               {
-                "type": "sequential",
+                "type": "path",
                 "data": {
-                  "commands": [
-                    {
-                      "type": "path",
-                      "data": {
-                        "pathName": "LeftNote-Center"
-                      }
-                    }
-                  ]
+                  "pathName": "LeftNote-Center"
                 }
               },
               {

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -120,7 +120,7 @@ public static final class ShooterConstants {
     public static final int kBottomShooterMotorPort = 35;
     public static final double kShooterSpeedTop = 0.8;
     public static final double kShooterSpeedBottom = 0.9;
-    public static final double kPreShooterSpeed = 0.4;
+    public static final double kPrepShooterSpeed = 0.6;
     public static final double kShooterOff = 0;
 
     public static final double kShooterOffTime = 0.04; 

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -76,8 +76,16 @@ public RobotContainer() {
             new NoteIntakeCommand(m_intakeSubsystem),
             new IntakeArmPositionCommand(m_intakeSubsystem, ArmPosition.Retracted)));
 
-    NamedCommands.registerCommand("Pre-Speed - 30%",
-      new ShooterSetSpeedCommand(m_shooterSubsystem, ShootSpeed.Halfway, 0.01));
+    NamedCommands.registerCommand("Prep-Speed - 60%",
+      new ShooterSetSpeedCommand(m_shooterSubsystem, ShootSpeed.Prep, 0.01));
+
+    NamedCommands.registerCommand("Spin up Shooter",
+      new ShooterSetSpeedCommand(m_shooterSubsystem, ShootSpeed.Shooting, 0.01));
+
+    NamedCommands.registerCommand("Spin down Shooter",
+      new ShooterSetSpeedCommand(m_shooterSubsystem, ShootSpeed.Off, 0.01));
+
+    NamedCommands.registerCommand("Outtake", new NoteOuttakeCommand(m_intakeSubsystem));
 
     NamedCommands.registerCommand("Intake in",
         new IntakeArmPositionCommand(m_intakeSubsystem, ArmPosition.Retracted));

diff --git a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java
@@ -42,9 +42,9 @@ public void setShootingSpeed(ShootSpeed speed) {
         m_topSpeed = ShooterConstants.kShooterSpeedTop;
         m_bottomSpeed = ShooterConstants.kShooterSpeedBottom;
         break;
-      case Halfway:
-        m_topSpeed = ShooterConstants.kPreShooterSpeed;
-        m_bottomSpeed = ShooterConstants.kPreShooterSpeed;
+      case Prep:
+        m_topSpeed = ShooterConstants.kPrepShooterSpeed;
+        m_bottomSpeed = ShooterConstants.kPrepShooterSpeed;
         break;
       case Off:
         m_topSpeed = 0.0;
@@ -69,7 +69,7 @@ public void periodic() {
 
   public static enum ShootSpeed {
     Shooting,
-    Halfway,
+    Prep,
     Off
   }
 }