Ruckus

src/main/java/frc/robot/Constants.java

@@ -163,7 +163,7 @@ public final class Constants {
         public static final double SCORING_DISTANCE_MAX_ALLOWED_METERS = 7.0;   // The maximum distance from the hub we'll allow the robot to shoot from
         // This is the distance increment in inches for adjusting hood angle according to distance from the target, in inches per degree:
         public static final double HOOD_ANGLE_CALC_DIVISION = (SCORING_DISTANCE_LONG_IN - SCORING_DISTANCE_SHORT_IN) / (HOOD_ANGLE_SCORING_MAX_DEG - HOOD_ANGLE_SCORING_MIN_DEG);
-        public static final double SHOOTER_EFFICIENCY_GENERAL = 0.31;       // This is the baseline shooter efficiency assumption
+        public static final double SHOOTER_EFFICIENCY_GENERAL = 0.325;       // This is the baseline shooter efficiency assumption
         public static final double SHOOTER_FLYWHEEL_DIAMETER_IN = 3.0;      // Flywheel diameter is 3.0 inches
         public static final double SHOOTER_FLYWHEEL_GEAR_RATIO = 2.0;       // Flywheel moves at twice the RPM of the flywheel motor
         public static final Angle TARGET_ELEVATION_DIF = edu.wpi.first.units.Units.Degrees.of(1);

src/main/java/frc/robot/commands/UltraShooterCommand.java

@@ -46,7 +46,6 @@ public class UltraShooterCommand extends Command{
     
     @Override
     public void initialize() {
-        //hopperSubsystem.spindexerOn();                                      // Activate spindexer so it's on while command is active
         hopperSubsystem.stopKicker();                                       // Make sure kicker is off when command is called
         CommandScheduler.getInstance().schedule(waitCommand);               // Kick off a wait timer so robot doesn't shoot until hopper is ready
         alliance = DriverStation.getAlliance().get();                       // Fetch our alliance
@@ -201,13 +200,6 @@ public class UltraShooterCommand extends Command{
             hopperSubsystem.stopKicker();
         }
         Logger.recordOutput("UltraShooter-OkToShoot", okToShoot);
-
-        // OPTIONAL: Activate rumble if it's not ok to shoot
-        if (!okToShoot) {
-            // ACTIVATE CONTROLLER RUMBLE
-        } else {
-            // DEACTIVATE CONTROLLER RUMBLE
-        }
     }
 
     @Override
@@ -218,27 +210,12 @@ public class UltraShooterCommand extends Command{
     @Override
     public void end(boolean interrupted) {
         waitCommand.cancel();
-        //hopperSubsystem.spindexerOff();
         hopperSubsystem.stopKicker();
 
         turretSubsystem.setLauncher(0);
         turretSubsystem.setTargetElevation(Constants.ShooterConstants.DEFLECTOR_STORED_ANGLE);
 
         Logger.recordOutput("UltraShooter-State", "INACTIVE");
-
-        // Removed the following since we're don't setting turret targets.
-        /*
-        DriverStation.getAlliance().ifPresent((alliance) -> {
-            if (alliance == Alliance.Blue) {
-                turretSubsystem.setTurretTargetPose(Constants.FieldPoses.BLUE_HUB_POSE);
-            } else {
-                turretSubsystem.setTurretTargetPose(Constants.FieldPoses.RED_HUB_POSE);
-            }
-        });
-        */
-
-        // turretSubsystem.setTurretMotorRotation(-0.34); // Return to 0 after MIAMI VALLEY
-        // TODO: Deactivate rumble if we decided to use the rumble feature when the robot prevents shooting
     }
 
 }

src/main/java/frc/robot/subsystems/HopperSubsystem.java

@@ -78,11 +78,11 @@ public class HopperSubsystem extends TestableSubsystem {
     }
 
     public void spindexerOn() {
-        spindexerMotor.set(0.75);
+        spindexerMotor.set(0.6);
     }
 
     public void spindexerReverse() {
-        spindexerMotor.set(-0.75);
+        spindexerMotor.set(-0.6);
     }
 
     public void spindexerOff() {

src/main/java/frc/robot/subsystems/IntakeSubsystem.java

@@ -70,7 +70,7 @@ public class IntakeSubsystem extends TestableSubsystem {
     public Command intake(XboxController m_XboxController) {
         return this.runOnce(() -> {
             if (intakeMotor.get() == 0) {
-                setSpeed(-.5);
+                setSpeed(-.45);
                 m_XboxController.setRumble(RumbleType.kBothRumble, .5);
             } else {
                 intakeMotor.stopMotor();
@@ -80,7 +80,7 @@ public class IntakeSubsystem extends TestableSubsystem {
     }
 
     public Command reverseIntake() {
-        return this.runEnd(() -> setSpeed(.5), () -> {
+        return this.runEnd(() -> setSpeed(.45), () -> {
             intakeMotor.stopMotor();
         });
     }

src/main/java/frc/robot/subsystems/TurretSubsystem.java

@@ -117,8 +117,8 @@ 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(0.0002).i(0.000001).d(0.0005); // I = 0.0000001
+    config.closedLoop.p(0.0002).i(0.000001).d(0.0009); // I = 0.0000001
-    config.closedLoop.feedForward.kS(0.2).kV(0.00005).kA(0.001);
+    config.closedLoop.feedForward.kS(0.2).kV(0.00009).kA(0.0001);
     // config.closedLoop.allowedClosedLoopError(10, ClosedLoopSlot.kSlot0);
     config.closedLoop.feedbackSensor(FeedbackSensor.kPrimaryEncoder);
     config.closedLoop.positionWrappingEnabled(false);
@@ -217,9 +217,7 @@ public class TurretSubsystem extends TestableSubsystem {
 
   public void homeTurret()
   {
-    if(turretState != TurretState.INIT){
+    if(turretState != TurretState.INIT) {return;}
-      return; 
-    }
     turretMotor.set(Constants.ShooterConstants.HOMING_SPEED);
     turretState = TurretState.HOMING;
   }