FairportRobotics
/
Castor2026
mirror of https://github.com/FairportRobotics/Castor2026.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Deflector Changes

This commit is contained in:
TheRealGrayden 2026-03-14 16:16:28 -04:00
parent a4253cfd35
commit 5e46a6c376
4 changed files with 27 additions and 19 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
src/main/java/frc/robot/Constants.java
View File

@ -95,9 +95,10 @@ public final class Constants {
public static final Angle LIMIT_ELEVATION_POS = edu.wpi.first.units.Units.Degrees.of(90);
public static final Angle LIMIT_ELEVATION_NEG = edu.wpi.first.units.Units.Degrees.of(0);
public static final Angle DEFLECTOR_STORED_ANGLE = edu.wpi.first.units.Units.Degrees.of(0);
public static final Angle DEFLECTOR_SET_ANGLE1 = edu.wpi.first.units.Units.Degrees.of(20);
public static final Angle DEFLECTOR_SET_ANGLE2 = edu.wpi.first.units.Units.Degrees.of(40);
public static final Angle DEFLECTOR_SET_ANGLE3 = edu.wpi.first.units.Units.Degrees.of(60);
public static final Angle DEFLECTOR_SET_ANGLE1 = edu.wpi.first.units.Units.Degrees.of(100);
public static final Angle DEFLECTOR_SET_ANGLE2 = edu.wpi.first.units.Units.Degrees.of(200);
public static final Angle DEFLECTOR_SET_ANGLE3 = edu.wpi.first.units.Units.Degrees.of(300);
public static final double DEFLECTOR_SERVO_RATIO = 1.0;
}
public static class HopperConstants {

15
src/main/java/frc/robot/commands/ManualHopperCommand.java
View File

@ -23,16 +23,13 @@ public class ManualHopperCommand extends Command {
// Called when the command is initially scheduled.
@Override
public void initialize() {
if(m_xboxController.getRightBumper())
{
m_subsystem.spin(Constants.HopperConstants.SPINDEXER_MOTOR_SPEED);
}
}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
if(m_xboxController.getLeftTriggerAxis()>.5 && m_xboxController.getRightTriggerAxis()>.5)
if(m_xboxController.getLeftTriggerAxis()>.5 && m_xboxController.getRightTriggerAxis()>.2)
{
m_subsystem.feed();
}
@ -40,6 +37,14 @@ public class ManualHopperCommand extends Command {
{
m_subsystem.stop();
}
if(m_xboxController.getRightBumper())
{
m_subsystem.spin(Constants.HopperConstants.SPINDEXER_MOTOR_SPEED);
}
if(m_xboxController.getLeftBumper())
{
m_subsystem.spin(0);
}
}
// Called once the command ends or is interrupted.

22
src/main/java/frc/robot/commands/ManualShootCommand.java
View File

@ -24,21 +24,21 @@ public class ManualShootCommand extends Command {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
if(m_controller.getRightTriggerAxis()>.4)
{
m_subsystem.setLauncher(.6);
m_controller.setRumble(RumbleType.kBothRumble, .33);
}
else if(m_controller.getRightTriggerAxis()>.6)
{
m_subsystem.setLauncher(.8);
m_controller.setRumble(RumbleType.kBothRumble, .67);
}
else if(m_controller.getRightTriggerAxis()>.8)
if(m_controller.getRightTriggerAxis()>.8)
{
m_subsystem.setLauncher(1);
m_controller.setRumble(RumbleType.kBothRumble, 1);
}
else if(m_controller.getRightTriggerAxis()>.5)
{
m_subsystem.setLauncher(.7);
m_controller.setRumble(RumbleType.kBothRumble, .67);
}
else if(m_controller.getRightTriggerAxis()>.2)
{
m_subsystem.setLauncher(.5);
m_controller.setRumble(RumbleType.kBothRumble, .33);
}
else
{
m_subsystem.setLauncher(0);

2
src/main/java/frc/robot/subsystems/TurretSubsystem.java
View File

@ -61,6 +61,8 @@ public class TurretSubsystem extends TestableSubsystem {
if(Constants.ShooterConstants.HOOD_SERVO_INVERTED){
elev=Units.Degrees.of(300).minus(elev);
}
elev=elev.div(1.5);
elev=elev.div(Constants.ShooterConstants.DEFLECTOR_SERVO_RATIO);
hood.setAngle(elev.in(Units.Degrees));
}