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Testing Intake and Shooter #27

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merged 6 commits into from
Mar 7, 2024
Merged

Testing Intake and Shooter #27

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35dcab5
Testing
ProgrammingSR Mar 2, 2024
0f410cf
random message
ProgrammingSR Mar 2, 2024
3b0ec4b
Good changes
ProgrammingSR Mar 3, 2024
7694a35
mesage
ProgrammingSR Mar 3, 2024
9454a93
Merge branch 'testing' of https://github.com/SaintsRobotics/Crescendo…
ProgrammingSR Mar 5, 2024
41d08e7
Merge branch 'main' into testing
ReeledWarrior14 Mar 7, 2024
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5 changes: 3 additions & 2 deletions src/main/java/frc/robot/Constants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -33,7 +33,7 @@ public static final class IOConstants {
public static final int kDriverControllerPort = 0;
public static final int kOperatorControllerPort = 1;

public static final double kControllerDeadband = 0.05;
public static final double kControllerDeadband = 0.1;
public static final double kSlowModeScalar = 0.8;
}

Expand Down Expand Up @@ -117,7 +117,8 @@ 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 kShooterSpeed = 0.7;
public static final double kShooterSpeedTop = 0.75;
public static final double kShooterSpeedBottom = 0.9;
public static final double kShooterOff = 0;
}

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24 changes: 12 additions & 12 deletions src/main/java/frc/robot/subsystems/DriveSubsystem.java
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Expand Up @@ -94,18 +94,18 @@ public void periodic() {

m_field.setRobotPose(m_poseEstimator.getEstimatedPosition());

SmartDashboard.putNumber("gyro angle", m_gyro.getAngle());
SmartDashboard.putNumber("odometryX", m_poseEstimator.getEstimatedPosition().getX());
SmartDashboard.putNumber("odometryY", m_poseEstimator.getEstimatedPosition().getY());

// AdvantageScope Logging
double[] logData = {
m_frontLeft.getPosition().angle.getDegrees(), m_frontLeft.driveOutput,
m_frontRight.getPosition().angle.getDegrees(), m_frontRight.driveOutput,
m_rearLeft.getPosition().angle.getDegrees(), m_rearLeft.driveOutput,
m_rearRight.getPosition().angle.getDegrees(), m_rearRight.driveOutput,
};
SmartDashboard.putNumberArray("AdvantageScope Swerve States", logData);
// SmartDashboard.putNumber("gyro angle", m_gyro.getAngle());
// SmartDashboard.putNumber("odometryX", m_poseEstimator.getEstimatedPosition().getX());
// SmartDashboard.putNumber("odometryY", m_poseEstimator.getEstimatedPosition().getY());

// // AdvantageScope Logging
// double[] logData = {
// m_frontLeft.getPosition().angle.getDegrees(), m_frontLeft.driveOutput,
// m_frontRight.getPosition().angle.getDegrees(), m_frontRight.driveOutput,
// m_rearLeft.getPosition().angle.getDegrees(), m_rearLeft.driveOutput,
// m_rearRight.getPosition().angle.getDegrees(), m_rearRight.driveOutput,
// };
// SmartDashboard.putNumberArray("AdvantageScope Swerve States", logData);

setModuleStates(swerveModuleStates);
}
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6 changes: 3 additions & 3 deletions src/main/java/frc/robot/subsystems/IntakeSubsystem.java
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Expand Up @@ -27,7 +27,7 @@ public class IntakeSubsystem extends SubsystemBase {

private DutyCycleEncoder m_armEncoder = new DutyCycleEncoder(IntakeConstants.kArmEncoderChannel);

private Rev2mDistanceSensor m_distanceSensor = new Rev2mDistanceSensor(Port.kOnboard); // onboard I2C port;
private Rev2mDistanceSensor m_distanceSensor = new Rev2mDistanceSensor(Port.kMXP); // onboard I2C port;

private double m_intakeSpeed = 0;
private double m_armSetpoint = IntakeConstants.kIntakeRaisedAngle;
Expand All @@ -40,8 +40,8 @@ public IntakeSubsystem() {
SmartDashboard.putNumber("arm", m_armEncoder.getAbsolutePosition());
m_armEncoder.setDistancePerRotation(360);

m_intakeMotor.setIdleMode(IdleMode.kBrake);
m_armMotor.setIdleMode(IdleMode.kCoast);
m_intakeMotor.setIdleMode(IdleMode.kCoast);
m_armMotor.setIdleMode(IdleMode.kBrake);

m_armPID.setTolerance(10);

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4 changes: 2 additions & 2 deletions src/main/java/frc/robot/subsystems/ShooterSubsystem.java
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Expand Up @@ -39,8 +39,8 @@ public void reset() {
public void setShootingSpeed(ShootSpeed speed) {
switch (speed) {
case Shooting:
m_topSpeed = ShooterConstants.kShooterSpeed;
m_bottomSpeed = ShooterConstants.kShooterSpeed;
m_topSpeed = ShooterConstants.kShooterSpeedTop;
m_bottomSpeed = ShooterConstants.kShooterSpeedBottom;
// System.out.println("shoot speed: " + ShooterConstants.kShooterSpeed);
break;
case Off:
Expand Down
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