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Castor2026
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Emergency intake changes

This commit is contained in:
TheRealGrayden 2026-03-13 16:17:15 -04:00
parent de006e7430
commit 65c6462d97
5 changed files with 12 additions and 6 deletions
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2
src/main/java/frc/robot/Constants.java
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@ -8,6 +8,7 @@ import edu.wpi.first.math.util.Units;
import edu.wpi.first.units.Unit; import edu.wpi.first.units.Unit;
import edu.wpi.first.units.measure.Angle; import edu.wpi.first.units.measure.Angle;
import java.security.PublicKey; import java.security.PublicKey;
import java.util.Queue;
import com.ctre.phoenix6.signals.InvertedValue; import com.ctre.phoenix6.signals.InvertedValue;
@ -105,5 +106,6 @@ public final class Constants {
public static final int SPINDEXER_MOTOR_ID = 8; public static final int SPINDEXER_MOTOR_ID = 8;
public static final InvertedValue SPINDEXER_MOTOR_DIRECTION = InvertedValue.Clockwise_Positive; public static final InvertedValue SPINDEXER_MOTOR_DIRECTION = InvertedValue.Clockwise_Positive;
public static final double SPINDEXER_MOTOR_SPEED = 0;
} }
} }

6
src/main/java/frc/robot/RobotContainer.java
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@ -40,7 +40,7 @@ public class RobotContainer {
public final DriveSubsystem driveSubsystem = new DriveSubsystem(m_driverController); public final DriveSubsystem driveSubsystem = new DriveSubsystem(m_driverController);
//public final IntakeSubsystem intakeSubsystem = new IntakeSubsystem(); public final IntakeSubsystem intakeSubsystem = new IntakeSubsystem();
public final TurretSubsystem turretSubsystem = new TurretSubsystem(); public final TurretSubsystem turretSubsystem = new TurretSubsystem();
@ -75,11 +75,11 @@ public class RobotContainer {
m_driverController.a().onTrue(intakeSubsystem.retractCommand()); m_driverController.a().onTrue(intakeSubsystem.retractCommand());
m_driverController.b().onTrue(intakeSubsystem.reverseCommand());*/ m_driverController.b().onTrue(intakeSubsystem.reverseCommand());*/
/*m_driverController.x().onTrue(intakeSubsystem.killSpeedCommand()); m_driverController.x().onTrue(intakeSubsystem.killSpeedCommand());
m_driverController.a().onTrue(intakeSubsystem.startSpeedCommand()); m_driverController.a().onTrue(intakeSubsystem.startSpeedCommand());
m_driverController.b().onTrue(intakeSubsystem.revSpeedCommand()); m_driverController.b().onTrue(intakeSubsystem.revSpeedCommand());
intakeSubsystem.setDefaultCommand(new ManualIntake(intakeSubsystem, m_driverController.getHID()));*/ intakeSubsystem.setDefaultCommand(new ManualIntake(intakeSubsystem, m_driverController.getHID()));
} }
/** /**

3
src/main/java/frc/robot/commands/ManualHopperCommand.java
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@ -4,6 +4,7 @@
package frc.robot.commands; package frc.robot.commands;
import frc.robot.Constants;
import frc.robot.subsystems.HopperSubsystem; import frc.robot.subsystems.HopperSubsystem;
import edu.wpi.first.wpilibj.XboxController; import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Command;
@ -22,7 +23,7 @@ public class ManualHopperCommand extends Command {
// Called when the command is initially scheduled. // Called when the command is initially scheduled.
@Override @Override
public void initialize() { public void initialize() {
m_subsystem.spin(0); m_subsystem.spin(Constants.HopperConstants.SPINDEXER_MOTOR_SPEED);
} }
// Called every time the scheduler runs while the command is scheduled. // Called every time the scheduler runs while the command is scheduled.

4
src/main/java/frc/robot/commands/ManualIntake.java
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@ -36,11 +36,11 @@ public class ManualIntake extends Command {
// Called every time the scheduler runs while the command is scheduled. // Called every time the scheduler runs while the command is scheduled.
@Override @Override
public void execute() { public void execute() {
if(m_XboxController.getRightBumper()==true) if(m_XboxController.getLeftBumper()==true)
{ {
m_subsystem.extend(); m_subsystem.extend();
} }
else if(m_XboxController.getLeftBumper()==true) else if(m_XboxController.getRightBumper()==true)
{ {
m_subsystem.retract(); m_subsystem.retract();
} }

3
src/main/java/frc/robot/subsystems/TurretSubsystem.java
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@ -58,6 +58,9 @@ public class TurretSubsystem extends TestableSubsystem {
public void setTargetElevation(Angle elev) public void setTargetElevation(Angle elev)
{ {
if(Constants.ShooterConstants.HOOD_SERVO_INVERTED){
elev=Units.Degrees.of(300).minus(elev);
}
hood.setAngle(elev.in(Units.Degrees)); hood.setAngle(elev.in(Units.Degrees));
} }