we shot a note

frc2053 · Oct 5, 2024 · 6a45868 · 6a45868
1 parent 28d4f57
commit 6a45868
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Showing 7 changed files with 20 additions and 20 deletions.
diff --git a/src/main/cpp/RobotContainer.cpp b/src/main/cpp/RobotContainer.cpp
@@ -69,10 +69,10 @@ void RobotContainer::ConfigureBindings() {
   // controller.POVUp().OnTrue(swerveSubsystem.TuneDrivePID([this] { return
   // controller.Start().Get(); }));
 
-  // controller.A().WhileTrue(shooterSubsystem.RunShooter(
-  //     [] { return consts::shooter::PRESET_SPEEDS::AMP; }));
-  // controller.A().OnFalse(shooterSubsystem.RunShooter(
-  //     [] { return consts::shooter::PRESET_SPEEDS::OFF; }));
+  controller.A().WhileTrue(shooterSubsystem.RunShooter(
+      [] { return consts::shooter::PRESET_SPEEDS::AMP; }));
+  controller.A().OnFalse(shooterSubsystem.RunShooter(
+      [] { return consts::shooter::PRESET_SPEEDS::OFF; }));
 
   controller.LeftTrigger().WhileTrue(intakeSubsystem.IntakeNote());
   controller.RightTrigger().WhileTrue(intakeSubsystem.PoopNote());
@@ -123,17 +123,17 @@ SwerveSubsystem &RobotContainer::GetSwerveSubsystem() {
   return swerveSubsystem;
 }
 
-// ShooterSubsystem &RobotContainer::GetShooterSubsystem() {
-//   return shooterSubsystem;
-// }
+ShooterSubsystem &RobotContainer::GetShooterSubsystem() {
+  return shooterSubsystem;
+}
 
 IntakeSubsystem &RobotContainer::GetIntakeSubsystem() {
   return intakeSubsystem;
 }
 
-// FeederSubsystem &RobotContainer::GetFeederSubsystem() {
-//   return feederSubsystem;
-// }
+FeederSubsystem &RobotContainer::GetFeederSubsystem() {
+  return feederSubsystem;
+}
 
 // str::Vision &RobotContainer::GetVision() { return vision; }
 

diff --git a/src/main/deploy/commit.txt b/src/main/deploy/commit.txt
@@ -1 +1 @@
-9255fe7
+28d4f57
diff --git a/src/main/include/RobotContainer.h b/src/main/include/RobotContainer.h
@@ -20,9 +20,9 @@ class RobotContainer {
   frc2::Command *GetAutonomousCommand();
 
   SwerveSubsystem &GetSwerveSubsystem();
-  // ShooterSubsystem &GetShooterSubsystem();
+  ShooterSubsystem &GetShooterSubsystem();
   IntakeSubsystem &GetIntakeSubsystem();
-  // FeederSubsystem &GetFeederSubsystem();
+  FeederSubsystem &GetFeederSubsystem();
   //str::Vision &GetVision();
   //str::NoteVisualizer &GetNoteVisualizer();
 
@@ -31,9 +31,9 @@ class RobotContainer {
   frc2::CommandXboxController controller{0};
 
   SwerveSubsystem swerveSubsystem;
-  // ShooterSubsystem shooterSubsystem;
+  ShooterSubsystem shooterSubsystem;
   IntakeSubsystem intakeSubsystem;
-  // FeederSubsystem feederSubsystem;
+  FeederSubsystem feederSubsystem;
   // str::Vision vision;
   // str::NoteVisualizer noteVisualizer;
 

diff --git a/src/main/include/constants/ShooterConstants.h b/src/main/include/constants/ShooterConstants.h
@@ -25,7 +25,7 @@ inline constexpr units::ampere_t STATOR_CURRENT_LIMIT = 180_A;
 
 namespace physical {
 
-inline constexpr bool TOP_INVERT = false;
+inline constexpr bool TOP_INVERT = true;
 inline constexpr bool BOTTOM_INVERT = true;
 
 inline constexpr units::scalar_t SHOOTER_RATIO = (1.0 / 1.0);

diff --git a/src/main/include/subsystems/FeederSubsystem.h b/src/main/include/subsystems/FeederSubsystem.h
@@ -35,7 +35,7 @@ class FeederSubsystem : public frc2::SubsystemBase {
   void UpdateNTEntries();
 
   ctre::phoenix6::hardware::TalonFX feederMotor{consts::feeder::can_ids::FEEDER,
-                                                "*"};
+                                                "rio"};
 
   frc::DigitalInput noteSensor{consts::feeder::ports::NOTE_SENSOR_PORT};
   frc::Debouncer noteSensorDebouncer{

diff --git a/src/main/include/subsystems/IntakeSubsystem.h b/src/main/include/subsystems/IntakeSubsystem.h
@@ -39,7 +39,7 @@ class IntakeSubsystem : public frc2::SubsystemBase {
   bool ConfigureMotorSignals();
 
   ctre::phoenix6::hardware::TalonFX intakeMotor{consts::intake::can_ids::INTAKE,
-                                                "*"};
+                                                "rio"};
   ctre::phoenix6::StatusSignal<units::volt_t> intakeMotorVoltageSig =
       intakeMotor.GetMotorVoltage();
   ctre::phoenix6::StatusSignal<units::ampere_t> intakeMotorTorqueCurrentSig =

diff --git a/src/main/include/subsystems/ShooterSubsystem.h b/src/main/include/subsystems/ShooterSubsystem.h
@@ -53,8 +53,8 @@ class ShooterSubsystem : public frc2::SubsystemBase {
                               units::ampere_t statorCurrentLimit);
   bool ConfigureMotorSignals();
 
-  ctre::phoenix6::hardware::TalonFX topWheelMotor{consts::shooter::can_ids::TOP_SHOOTER, "*"};
-  ctre::phoenix6::hardware::TalonFX bottomWheelMotor{consts::shooter::can_ids::BOTTOM_SHOOTER, "*"};
+  ctre::phoenix6::hardware::TalonFX topWheelMotor{consts::shooter::can_ids::TOP_SHOOTER, "rio"};
+  ctre::phoenix6::hardware::TalonFX bottomWheelMotor{consts::shooter::can_ids::BOTTOM_SHOOTER, "rio"};
 
   ctre::phoenix6::StatusSignal<units::turn_t> topMotorPosSig = topWheelMotor.GetPosition();
   ctre::phoenix6::StatusSignal<units::turns_per_second_t> topMotorVelSig = topWheelMotor.GetVelocity();