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Castor2026
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Commiting changes from saturday

This commit is contained in:
Team578 Driver Station 2026-04-13 18:20:19 -04:00
parent 8712196ab3
commit 99fe2ecfbb
4 changed files with 11 additions and 10 deletions
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4
src/main/java/frc/robot/RobotContainer.java
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@ -80,10 +80,10 @@ public class RobotContainer {
// m_driverController:wa.a().whileTrue(new AutoShootCommandChassisTurret(driveSubsystem, hopperSubsystem, turretSubsystem)); // m_driverController:wa.a().whileTrue(new AutoShootCommandChassisTurret(driveSubsystem, hopperSubsystem, turretSubsystem));
m_driverController.leftBumper().onTrue(Commands.runOnce(() -> turretSubsystem.homeTurret(), turretSubsystem)); m_driverController.leftBumper().onTrue(Commands.runOnce(() -> turretSubsystem.homeTurret(), turretSubsystem));
m_driverController.rightBumper().onTrue(intakeSubsystem.intake()); m_driverController.rightBumper().onTrue(Commands.parallel(intakeSubsystem.intake()));
m_driverController.y().whileTrue(new RelayCommand(hopperSubsystem, turretSubsystem, intakeSubsystem)); m_driverController.y().whileTrue(new RelayCommand(hopperSubsystem, turretSubsystem, intakeSubsystem));
m_driverController.start().whileTrue(intakeSubsystem.resetDeploy()); m_driverController.start().whileTrue(intakeSubsystem.resetDeploy());
m_driverController.x().toggleOnTrue(new AutoShootCommandChassisTurret(driveSubsystem, hopperSubsystem, turretSubsystem)); m_driverController.x().whileTrue(new AutoShootCommandChassisTurret(driveSubsystem, hopperSubsystem, turretSubsystem));
m_driverController.b().toggleOnTrue(new ZoneCheck(driveSubsystem)); m_driverController.b().toggleOnTrue(new ZoneCheck(driveSubsystem));
} }

2
src/main/java/frc/robot/commands/AutoShootCommandChassisTurret.java
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@ -75,7 +75,7 @@ public class AutoShootCommandChassisTurret extends Command{
} }
}); });
turretSubsystem.setLauncher(6000); turretSubsystem.setLauncher(3000);
turretSubsystem.setTargetElevation(Constants.ShooterConstants.DEFLECTOR_STORED_ANGLE); turretSubsystem.setTargetElevation(Constants.ShooterConstants.DEFLECTOR_STORED_ANGLE);
hopperSubsystem.spindexerOn(); hopperSubsystem.spindexerOn();
cameraAutoCenterController.calculate(-100); cameraAutoCenterController.calculate(-100);

9
src/main/java/frc/robot/subsystems/HopperSubsystem.java
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@ -19,6 +19,7 @@ import com.ctre.phoenix6.hardware.TalonFX;
import edu.wpi.first.units.AngularVelocityUnit; import edu.wpi.first.units.AngularVelocityUnit;
import edu.wpi.first.units.Units; import edu.wpi.first.units.Units;
import edu.wpi.first.units.measure.AngularVelocity; import edu.wpi.first.units.measure.AngularVelocity;
import edu.wpi.first.wpilibj2.command.Command;
import static org.fairportrobotics.frc.posty.assertions.Assertions.*; import static org.fairportrobotics.frc.posty.assertions.Assertions.*;
import frc.robot.Constants; import frc.robot.Constants;
@ -64,13 +65,13 @@ public class HopperSubsystem extends TestableSubsystem {
} }
public void feedKicker() { public void feedKicker() {
kickerMotor.setControl(kickerControl.withVelocity(1000)); //kickerMotor.setControl(kickerControl.withVelocity(1000));
// kickerMotor.set(0.75); kickerMotor.set(0.75);
} }
public void reverseKicker() { public void reverseKicker() {
kickerMotor.setControl(kickerControl.withVelocity(-500)); //kickerMotor.setControl(kickerControl.withVelocity(-500));
// kickerMotor.set(-0.5); kickerMotor.set(-0.5);
} }
public void stopKicker() {kickerMotor.stopMotor();} public void stopKicker() {kickerMotor.stopMotor();}

4
src/main/java/frc/robot/subsystems/TurretSubsystem.java
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@ -104,8 +104,8 @@ public class TurretSubsystem extends TestableSubsystem {
SparkMaxConfig config = new SparkMaxConfig().apply((SparkMaxConfig) SparkMaxConfig.Presets.REV_NEO); SparkMaxConfig config = new SparkMaxConfig().apply((SparkMaxConfig) SparkMaxConfig.Presets.REV_NEO);
config.inverted(Constants.ShooterConstants.LAUNCHER_MOTOR_INVERTED); config.inverted(Constants.ShooterConstants.LAUNCHER_MOTOR_INVERTED);
config.voltageCompensation(10); config.voltageCompensation(10);
config.closedLoop.p(0.0001).i(0).d(0.0); // I = 0.0000001 config.closedLoop.p(0.0002).i(0.000001).d(0.0005); // I = 0.0000001
config.closedLoop.feedForward.kS(0.2).kV(0.002).kA(0.00); config.closedLoop.feedForward.kS(0.2).kV(0.000).kA(0.000);
// config.closedLoop.allowedClosedLoopError(10, ClosedLoopSlot.kSlot0); // config.closedLoop.allowedClosedLoopError(10, ClosedLoopSlot.kSlot0);
config.closedLoop.feedbackSensor(FeedbackSensor.kPrimaryEncoder); config.closedLoop.feedbackSensor(FeedbackSensor.kPrimaryEncoder);
config.closedLoop.positionWrappingEnabled(false); config.closedLoop.positionWrappingEnabled(false);