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Auton comp changes #39

Merged
merged 7 commits into from
Mar 26, 2024
Merged

Auton comp changes #39

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9b53ead
removed quadratic scaling on drive rotation
ProgrammingSR Mar 23, 2024
b369b4d
untested, will test in match, 4 note change
ProgrammingSR Mar 24, 2024
cf1efcf
fixed 4 note first note
ProgrammingSR Mar 24, 2024
222b2dd
increased shooter on time
ProgrammingSR Mar 24, 2024
3277584
Merge branch 'main' into auton-comp-changes
ArnoUUU Mar 25, 2024
0dfb511
feat: amp changes from comp
ProgrammingSR Mar 26, 2024
6343ade
Merge branch 'auton-comp-changes' of https://github.com/SaintsRobotic…
ProgrammingSR Mar 26, 2024
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2 changes: 1 addition & 1 deletion src/main/deploy/pathplanner/autos/4-Center-Stays.auto
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@
"version": 1.0,
"startingPose": {
"position": {
"x": 1.3470318873095533,
"x": 1.4,
"y": 5.5216374597852385
},
"rotation": 0
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4 changes: 2 additions & 2 deletions src/main/deploy/pathplanner/paths/CenterNote-Center.path
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Expand Up @@ -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,
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6 changes: 3 additions & 3 deletions src/main/deploy/pathplanner/paths/Middle5thNote-Right.path
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Expand Up @@ -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
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10 changes: 7 additions & 3 deletions src/main/java/frc/robot/RobotContainer.java
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Expand Up @@ -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;
Expand Down Expand Up @@ -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",
Expand Down Expand Up @@ -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();
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1 change: 0 additions & 1 deletion src/main/java/frc/robot/commands/NoteOuttakeCommand.java
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Expand Up @@ -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;

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4 changes: 4 additions & 0 deletions src/main/java/frc/robot/subsystems/ShooterSubsystem.java
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Expand Up @@ -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;
Expand Down Expand Up @@ -70,6 +73,7 @@ public void periodic() {
public static enum ShootSpeed {
Shooting,
Prep,
Amp,
Off
}
}
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