From 706ab9e4a8e2b7b2ffefce7ffd9236348b99342a Mon Sep 17 00:00:00 2001 From: Team578 Driver Station Date: Tue, 14 Apr 2026 19:52:01 -0400 Subject: [PATCH] Preliminary distance aligning --- src/main/java/frc/robot/RobotContainer.java | 5 +++-- src/main/java/frc/robot/commands/RelayCommand.java | 7 ++++--- src/main/java/frc/robot/subsystems/TurretSubsystem.java | 3 ++- 3 files changed, 9 insertions(+), 6 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 517869e..05f9d11 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -13,6 +13,7 @@ import frc.robot.Constants.OperatorConstants; import frc.robot.commands.AutoShootCommandChassisTurret; import frc.robot.commands.AutoShootCommandChassisTurretPathPlanner; import frc.robot.commands.AutoTurretCommand; +import frc.robot.commands.RelayCommand; import frc.robot.commands.Reverse; import frc.robot.subsystems.DriveSubsystem; import frc.robot.subsystems.HopperSubsystem; @@ -80,11 +81,11 @@ public class RobotContainer { m_driverController.leftBumper().onTrue(Commands.runOnce(() -> turretSubsystem.homeTurret(), turretSubsystem)); m_driverController.rightBumper().onTrue(Commands.parallel(intakeSubsystem.intake())); - //m_driverController.y().whileTrue(new RelayCommand(hopperSubsystem, turretSubsystem, intakeSubsystem)); + m_driverController.a().whileTrue(new RelayCommand(hopperSubsystem, turretSubsystem, intakeSubsystem)); m_driverController.start().whileTrue(intakeSubsystem.resetDeploy()); m_driverController.x().whileTrue(new AutoShootCommandChassisTurret(driveSubsystem, hopperSubsystem, turretSubsystem)); m_driverController.b().onTrue(new Reverse(intakeSubsystem, hopperSubsystem)); - m_driverController.y().onTrue(intakeSubsystem.deploy()); + //m_driverController.y().onTrue(intakeSubsystem.deploy()); } /** diff --git a/src/main/java/frc/robot/commands/RelayCommand.java b/src/main/java/frc/robot/commands/RelayCommand.java index 33648e4..aafa387 100644 --- a/src/main/java/frc/robot/commands/RelayCommand.java +++ b/src/main/java/frc/robot/commands/RelayCommand.java @@ -2,6 +2,7 @@ package frc.robot.commands; import edu.wpi.first.units.Units; import edu.wpi.first.units.measure.Angle; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.CommandScheduler; import edu.wpi.first.wpilibj2.command.Commands; @@ -23,13 +24,13 @@ public class RelayCommand extends Command{ this.turretSubsystem = turretSubsystem; this.intakeSubsystem = intakeSubsystem; - addRequirements(hopperSubsystem, turretSubsystem, intakeSubsystem); + addRequirements(hopperSubsystem, intakeSubsystem); } @Override public void initialize() { - turretSubsystem.setTargetElevation(Constants.ShooterConstants.DEFLECTOR_SET_ANGLE3); - turretSubsystem.setLauncher(6000); + // turretSubsystem.setTargetElevation(Constants.ShooterConstants.DEFLECTOR_SET_ANGLE3); + turretSubsystem.setLauncher(3000); hopperSubsystem.spindexerOn(); CommandScheduler.getInstance().schedule(waitCommand); turretSubsystem.setTurretMotorRotation(1); // Return to 0 after MIAMI VALLEY diff --git a/src/main/java/frc/robot/subsystems/TurretSubsystem.java b/src/main/java/frc/robot/subsystems/TurretSubsystem.java index c4a64e3..2855184 100644 --- a/src/main/java/frc/robot/subsystems/TurretSubsystem.java +++ b/src/main/java/frc/robot/subsystems/TurretSubsystem.java @@ -138,7 +138,8 @@ public class TurretSubsystem extends TestableSubsystem { public boolean isLauncherUpToSpeed() { // Valid if velcity is within 10% of setpoint. // May need to lower this - return Math.abs(launcherControler.getSetpoint() - launcherMotor.getEncoder().getVelocity()) >= launcherControler.getSetpoint() * 0.03; + return true; + // return Math.abs(launcherControler.getSetpoint() - launcherMotor.getEncoder().getVelocity()) >= launcherControler.getSetpoint() * 0.03; } public void setTargetElevation(double elev)