From 5986bc8f92e8d4cecf47ed63b4c48208fd8e52fb Mon Sep 17 00:00:00 2001 From: Team578 Driver Station Date: Sat, 18 Apr 2026 12:35:31 -0400 Subject: [PATCH] Guys were def the 1st place aliance fr fr --- src/main/java/frc/robot/RobotContainer.java | 4 +- src/main/java/frc/robot/Utils.java | 4 +- .../frc/robot/subsystems/DriveSubsystem.java | 1 - .../frc/robot/subsystems/HopperSubsystem.java | 14 +++++ .../frc/robot/subsystems/TurretSubsystem.java | 62 ++++++++----------- 5 files changed, 43 insertions(+), 42 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 27e381e..fdf7e9d 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -83,8 +83,8 @@ public class RobotContainer { m_driverController.leftBumper().onTrue(Commands.runOnce(() -> turretSubsystem.homeTurret(), turretSubsystem)); m_driverController.rightBumper().onTrue(Commands.parallel(intakeSubsystem.intake(m_driverController.getHID()))); m_driverController.start().whileTrue(intakeSubsystem.resetDeploy()); - m_driverController.a().whileTrue(Commands.parallel(new AutoTurretShootCommand(hopperSubsystem, turretSubsystem, intakeSubsystem, driveSubsystem)/*, intakeSubsystem.stopIntake(m_driverController.getHID())*/)); - m_driverController.x().whileTrue(Commands.parallel(new AutoTurretShootCommand(hopperSubsystem, turretSubsystem, intakeSubsystem, driveSubsystem)/*, intakeSubsystem.stopIntake(m_driverController.getHID())*/)); + m_driverController.a().whileTrue((new AutoTurretShootCommand(hopperSubsystem, turretSubsystem, intakeSubsystem, driveSubsystem))); + m_driverController.x().whileTrue((new AutoTurretShootCommand(hopperSubsystem, turretSubsystem, intakeSubsystem, driveSubsystem))); m_driverController.b().whileTrue(new Reverse(intakeSubsystem, hopperSubsystem, m_driverController.getHID())); m_driverController.y().onTrue(intakeSubsystem.deploy()); } diff --git a/src/main/java/frc/robot/Utils.java b/src/main/java/frc/robot/Utils.java index 0bde9b0..4a0e8c8 100644 --- a/src/main/java/frc/robot/Utils.java +++ b/src/main/java/frc/robot/Utils.java @@ -101,14 +101,14 @@ public class Utils { } public static double getHoodAngleForDistance(double distanceInMeters){ - if(distanceInMeters >= 3){ + if(distanceInMeters >= 4){ return 200; } return 0; } public static double getLauncherRPMForDistance(double distanceInMeters){ - return Math.min((667.557*distanceInMeters) + 1024.699, 6000); + return Math.min((667.557*distanceInMeters) + 1500.699, 5000); } /** diff --git a/src/main/java/frc/robot/subsystems/DriveSubsystem.java b/src/main/java/frc/robot/subsystems/DriveSubsystem.java index f18fd65..e2700c2 100644 --- a/src/main/java/frc/robot/subsystems/DriveSubsystem.java +++ b/src/main/java/frc/robot/subsystems/DriveSubsystem.java @@ -149,7 +149,6 @@ public class DriveSubsystem extends TestableSubsystem { Logger.recordOutput("RequestedSwerveState", driveSystem.getRequestedModuleStates()); Logger.recordOutput("ActualSwerveState", driveSystem.getActualModuleStates()); - Logger.recordOutput("Pose Estimation", driveSystem.getRobotPose3d()); } }, this)); diff --git a/src/main/java/frc/robot/subsystems/HopperSubsystem.java b/src/main/java/frc/robot/subsystems/HopperSubsystem.java index 0bfdfb2..f345f67 100644 --- a/src/main/java/frc/robot/subsystems/HopperSubsystem.java +++ b/src/main/java/frc/robot/subsystems/HopperSubsystem.java @@ -17,6 +17,9 @@ import com.ctre.phoenix6.hardware.TalonFX; import edu.wpi.first.units.Units; import edu.wpi.first.units.measure.AngularVelocity; +import edu.wpi.first.wpilibj.GenericHID.RumbleType; +import edu.wpi.first.wpilibj.XboxController; +import edu.wpi.first.wpilibj2.command.Command; import frc.robot.Constants; public class HopperSubsystem extends TestableSubsystem { @@ -86,6 +89,17 @@ public class HopperSubsystem extends TestableSubsystem { spindexerMotor.stopMotor(); } + public Command spinny() { + return this.runOnce(() -> { + if (spindexerMotor.get() == 0) { + spindexerOn(); + } else { + spindexerOff(); + } + }); + } + + @Override public void periodic() { Logger.recordOutput("HopperSubsystem-KickerSpeed(Rotations/sec)", kickerVelocity.refresh().getValue().in(Units.RotationsPerSecond)); diff --git a/src/main/java/frc/robot/subsystems/TurretSubsystem.java b/src/main/java/frc/robot/subsystems/TurretSubsystem.java index e322148..6d6a7f4 100644 --- a/src/main/java/frc/robot/subsystems/TurretSubsystem.java +++ b/src/main/java/frc/robot/subsystems/TurretSubsystem.java @@ -115,7 +115,7 @@ public class TurretSubsystem extends TestableSubsystem { SparkMaxConfig config = new SparkMaxConfig().apply((SparkMaxConfig) SparkMaxConfig.Presets.REV_NEO); config.inverted(Constants.ShooterConstants.LAUNCHER_MOTOR_INVERTED); config.voltageCompensation(10); - config.closedLoop.p(0.0001).i(0.000004).d(0.000007); // I = 0.0000001 + config.closedLoop.p(0.0002).i(0.000001).d(0.0005); // I = 0.0000001 config.closedLoop.feedForward.kS(0.2).kV(0.000).kA(0.000); // config.closedLoop.allowedClosedLoopError(10, ClosedLoopSlot.kSlot0); config.closedLoop.feedbackSensor(FeedbackSensor.kPrimaryEncoder); @@ -203,57 +203,45 @@ public class TurretSubsystem extends TestableSubsystem { @Override public void periodic() { - if(turretState == TurretState.HOMING) - { - while(turretState != TurretState.READY) - { - long start = System.currentTimeMillis(); - while(System.currentTimeMillis()-1000