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Castor2026
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This commit is contained in:
TheRealGrayden 2026-03-14 09:53:50 -04:00
parent 65c6462d97
commit a4253cfd35
6 changed files with 29 additions and 16 deletions
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6
src/main/java/frc/robot/Constants.java
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@ -102,10 +102,10 @@ public final class Constants {
public static class HopperConstants { public static class HopperConstants {
public static final int KICKER_MOTOR_ID = 9; public static final int KICKER_MOTOR_ID = 9;
public static final InvertedValue KICKER_MOTOR_DIRECTION = InvertedValue.CounterClockwise_Positive; public static final InvertedValue KICKER_MOTOR_DIRECTION = InvertedValue.Clockwise_Positive;
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.CounterClockwise_Positive;
public static final double SPINDEXER_MOTOR_SPEED = 0; public static final double SPINDEXER_MOTOR_SPEED = .6;
} }
} }

2
src/main/java/frc/robot/RobotContainer.java
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@ -77,7 +77,7 @@ public class RobotContainer {
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()));
} }

5
src/main/java/frc/robot/commands/ManualHopperCommand.java
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@ -23,7 +23,10 @@ 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(Constants.HopperConstants.SPINDEXER_MOTOR_SPEED); if(m_xboxController.getRightBumper())
{
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.

16
src/main/java/frc/robot/commands/ManualShootCommand.java
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@ -6,6 +6,7 @@ package frc.robot.commands;
import frc.robot.subsystems.TurretSubsystem; import frc.robot.subsystems.TurretSubsystem;
import edu.wpi.first.wpilibj.XboxController; import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj.GenericHID.RumbleType;
import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Command;
/** An example command that uses an example subsystem. */ /** An example command that uses an example subsystem. */
@ -23,14 +24,25 @@ public class ManualShootCommand 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_controller.getLeftTriggerAxis()>.5 || m_controller.getRightTriggerAxis()>.5) 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)
{ {
m_subsystem.setLauncher(1); m_subsystem.setLauncher(1);
System.out.println("Test"); m_controller.setRumble(RumbleType.kBothRumble, 1);
} }
else else
{ {
m_subsystem.setLauncher(0); m_subsystem.setLauncher(0);
m_controller.setRumble(RumbleType.kBothRumble, 0);
} }
} }

4
src/main/java/frc/robot/subsystems/IntakeSubsystem.java
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@ -84,7 +84,7 @@ public class IntakeSubsystem extends TestableSubsystem {
public Command startSpeedCommand() public Command startSpeedCommand()
{ {
return this.runOnce(() -> setSpeed(.5)); return this.runOnce(() -> setSpeed(-.5));
} }
public Command killSpeedCommand() public Command killSpeedCommand()
@ -94,6 +94,6 @@ public class IntakeSubsystem extends TestableSubsystem {
public Command revSpeedCommand() public Command revSpeedCommand()
{ {
return this.runOnce(() -> setSpeed(-.5)); return this.runOnce(() -> setSpeed(.5));
} }
} }

12
src/main/java/frc/robot/subsystems/TurretSubsystem.java
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@ -67,21 +67,21 @@ public class TurretSubsystem extends TestableSubsystem {
public void startHoming() public void startHoming()
{ {
//turretMotor.set(Constants.ShooterConstants.HOMING_SPEED); //turretMotor.set(Constants.ShooterConstants.HOMING_SPEED);
currentState = TurretState.HOMING; //currentState = TurretState.HOMING;
} }
public void startRotate(double speed) public void startRotate(double speed)
{ {
turretGoingPos=speed>0; /*turretGoingPos=speed>0;
if(!passedLimit()) if(!passedLimit())
{ {
//turretMotor.set(speed); turretMotor.set(speed);
} }
else else
{ {
//turretMotor.set(0); turretMotor.set(0);
} }*/
} }
public boolean passedLimit(){ public boolean passedLimit(){
@ -128,7 +128,5 @@ public class TurretSubsystem extends TestableSubsystem {
{ {
//turretMotor.set(0); //turretMotor.set(0);
}*/ }*/
} }
} }