stuff that works

SaintsRobotics · Mar 8, 2024 · b7f43f8 · b7f43f8
1 parent a6d9471
commit b7f43f8
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Showing 8 changed files with 29 additions and 11 deletions.
diff --git a/simgui.json b/simgui.json
@@ -24,6 +24,16 @@
       }
     }
   },
+  "NetworkTables": {
+    "retained": {
+      "SmartDashboard": {
+        "Auto Chooser": {
+          "open": true
+        },
+        "open": true
+      }
+    }
+  },
   "NetworkTables Info": {
     "visible": true
   }

diff --git a/src/main/deploy/pathplanner/autos/2-Center-Stays.auto b/src/main/deploy/pathplanner/autos/2-Center-Stays.auto
@@ -49,6 +49,12 @@
             ]
           }
         },
+        {
+          "type": "named",
+          "data": {
+            "name": "Intake in"
+          }
+        },
         {
           "type": "named",
           "data": {

diff --git a/src/main/deploy/pathplanner/paths/CenterNote-Center.path b/src/main/deploy/pathplanner/paths/CenterNote-Center.path
@@ -36,8 +36,8 @@
         "y": 5.5216374597852385
       },
       "prevControl": {
-        "x": 2.3470318873095533,
-        "y": 5.5216374597852385
+        "x": 3.1247868210022136,
+        "y": 5.541275082550166
       },
       "nextControl": null,
       "isLocked": false,

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -117,7 +117,7 @@ public static final class IntakeConstants {
   public static final class ShooterConstants {
     public static final int kTopShooterMotorPort = 20;
     public static final int kBottomShooterMotorPort = 35;
-    public static final double kShooterSpeedTop = 0.75;
+    public static final double kShooterSpeedTop = 0.8;
     public static final double kShooterSpeedBottom = 0.9;
     public static final double kShooterOff = 0;
   }

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -75,6 +75,9 @@ public RobotContainer() {
           new NoteIntakeCommand(m_intakeSubsystem),
           new IntakeArmPositionCommand(m_intakeSubsystem, ArmPosition.Retracted)));
 
+    NamedCommands.registerCommand("Intake in", 
+      new IntakeArmPositionCommand(m_intakeSubsystem, ArmPosition.Retracted));
+
     AutoBuilder.configureHolonomic(m_robotDrive::getPose, m_robotDrive::resetOdometry,
         m_robotDrive::getChassisSpeeds,
         m_robotDrive::autonDrive,
@@ -86,7 +89,7 @@ public RobotContainer() {
                                                                                // meters. Distance
                                                                                // from robot center to
                                                                                // furthest module.
-            new ReplanningConfig(true, true)),
+            new ReplanningConfig(false, false)),
         () -> false, m_robotDrive);
 
     // new SequentialCommandGroup(new ShooterSetSpeedCommand(m_shooterSubsystem,

diff --git a/src/main/java/frc/robot/commands/ShooterSetSpeedCommand.java b/src/main/java/frc/robot/commands/ShooterSetSpeedCommand.java
@@ -47,6 +47,6 @@ public void end(boolean interrupted) {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return m_ShooterSubsystem.returnCurrentSpeed() > 0.8;
+    return m_timer.get() > 1.5;
   }
 }
diff --git a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java
@@ -21,8 +21,8 @@ public class ShooterSubsystem extends SubsystemBase {
   private double m_topSpeed = 0;
   private double m_bottomSpeed = 0;
 
-  SlewRateLimiter m_topLimiter = new SlewRateLimiter(0.2);
- SlewRateLimiter m_bottomLimiter = new SlewRateLimiter(0.2);
+//   SlewRateLimiter m_topLimiter = new SlewRateLimiter(0.4);
+//  SlewRateLimiter m_bottomLimiter = new SlewRateLimiter(0.4);
 
   public ShooterSubsystem() {
     m_bottom.setIdleMode(IdleMode.kCoast);
@@ -46,9 +46,9 @@ public void setShootingSpeed(ShootSpeed speed) {
     switch (speed) {
       case Shooting:
         m_topSpeed = ShooterConstants.kShooterSpeedTop;
-        m_topSpeed = m_topLimiter.calculate(m_topSpeed);
+        // m_topSpeed = m_topLimiter.calculate(m_topSpeed);
         m_bottomSpeed = ShooterConstants.kShooterSpeedBottom;
-        m_bottomSpeed = m_bottomLimiter.calculate(m_topSpeed);
+        // m_bottomSpeed = m_bottomLimiter.calculate(m_topSpeed);
         // System.out.println("shoot speed: " + ShooterConstants.kShooterSpeed);
         break;
       case Off:
@@ -71,7 +71,6 @@ public void periodic() {
 
     m_bottom.set(m_bottomSpeed);
     m_top.set(m_topSpeed);
-
   }
 
   public static enum ShootSpeed {

diff --git a/src/main/java/frc/robot/subsystems/VisionSubsystem.java b/src/main/java/frc/robot/subsystems/VisionSubsystem.java
@@ -86,7 +86,7 @@ public void periodic() {
 
     if (latestMeasurement != null) {
       for (Consumer<Measurement> consumer : m_consumerList) {
-        consumer.accept(latestMeasurement);
+        // consumer.accept(latestMeasurement);
       }
     }