Changes

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

@@ -68,10 +68,10 @@ public final class Constants {
   }
   
   public static class IntakeConstants {
-    public static final int DEPLOY_MOTOR_ID = 12;
+    public static final int DEPLOY_MOTOR_ID = 17;
-    public static final boolean DEPLOY_MOTOR_INVERTED = true; // TODO: Test this
+    public static final boolean DEPLOY_MOTOR_INVERTED = false; // TODO: Test this
 
-    public static final int INTAKE_MOTOR_ID = 1; 
+    public static final int INTAKE_MOTOR_ID = 0; 
     public static final InvertedValue INTAKE_MOTOR_DIRECTION = InvertedValue.Clockwise_Positive; // TODO: Test this
   }
 
@@ -79,31 +79,31 @@ public final class Constants {
     public static final int LAUNCHER_MOTOR_ID = 2;
     public static final boolean LAUNCHER_MOTOR_INVERTED = true; // TODO: Test this
 
-    public static final int TURRET_MOTOR_ID = 1;
+    public static final int TURRET_MOTOR_ID = 0;
     public static final InvertedValue TURRET_MOTOR_DIRECTION = InvertedValue.CounterClockwise_Positive;
     public static final int TURRET_LIMIT_CHANNEL = 0;
     public static final Angle LIMIT_AXIMUTH_POS = edu.wpi.first.units.Units.Degrees.of(265);
     public static final Angle LIMIT_AXIMUTH_NEG = edu.wpi.first.units.Units.Degrees.of(5);
     public static final double HOMING_SPEED = .35;
-    public static final double TURRET_GEAR_RATIO  = 1;
+    public static final double TURRET_GEAR_RATIO  = 0;
 
-    public static final int HOOD_SERVO_CHANNEL = 3;
+    public static final int HOOD_SERVO_CHANNEL = 0;
     public static final boolean HOOD_SERVO_INVERTED = true; // TODO: Test this
-    public static final int HOOD_ENCODER_ID = 4;
+    public static final int HOOD_ENCODER_ID = 0;
-    public static final Angle TARGET_ELEVATION_DIF = edu.wpi.first.units.Units.Degrees.of(1);
+    public static final Angle TARGET_ELEVATION_DIF = edu.wpi.first.units.Units.Degrees.of(10000);
-    public static final Angle LIMIT_ELEVATION_POS = edu.wpi.first.units.Units.Degrees.of(90);
+    public static final Angle LIMIT_ELEVATION_POS = edu.wpi.first.units.Units.Degrees.of(0);
     public static final Angle LIMIT_ELEVATION_NEG = edu.wpi.first.units.Units.Degrees.of(0);
     public static final Angle DEFLECTOR_STORED_ANGLE = edu.wpi.first.units.Units.Degrees.of(0);
-    public static final Angle DEFLECTOR_SET_ANGLE1 = edu.wpi.first.units.Units.Degrees.of(20);
+    public static final Angle DEFLECTOR_SET_ANGLE1 = edu.wpi.first.units.Units.Degrees.of(0);
-    public static final Angle DEFLECTOR_SET_ANGLE2 = edu.wpi.first.units.Units.Degrees.of(40);
+    public static final Angle DEFLECTOR_SET_ANGLE2 = edu.wpi.first.units.Units.Degrees.of(0);
-    public static final Angle DEFLECTOR_SET_ANGLE3 = edu.wpi.first.units.Units.Degrees.of(60);
+    public static final Angle DEFLECTOR_SET_ANGLE3 = edu.wpi.first.units.Units.Degrees.of(0);
   }
   
   public static class HopperConstants {
-    public static final int KICKER_MOTOR_ID = 0;
+    public static final int KICKER_MOTOR_ID = 9;
     public static final InvertedValue KICKER_MOTOR_DIRECTION = InvertedValue.CounterClockwise_Positive;
 
-    public static final int SPINDEXER_MOTOR_ID = 1;
+    public static final int SPINDEXER_MOTOR_ID = 8;
     public static final InvertedValue SPINDEXER_MOTOR_DIRECTION = InvertedValue.Clockwise_Positive;
   }
 }

src/main/java/frc/robot/RobotContainer.java

@@ -65,12 +65,14 @@ public class RobotContainer {
     turretSubsystem.setDefaultCommand(new ManualShootCommand(turretSubsystem, m_driverController.getHID()));
     hopperSubsystem.setDefaultCommand(new ManualHopperCommand(hopperSubsystem, m_driverController.getHID()));
 
-    m_driverController.povDown().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_STORED_ANGLE));
+    //The shooter will tear its self apart if deflector moves, so dont move it
+
+    /*m_driverController.povDown().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_STORED_ANGLE));
     m_driverController.povLeft().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_SET_ANGLE1));
     m_driverController.povRight().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_SET_ANGLE3));
     m_driverController.povUp().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_SET_ANGLE2));
 
-    /*m_driverController.y().onTrue(intakeSubsystem.deployCommand());
+    m_driverController.y().onTrue(intakeSubsystem.deployCommand());
     m_driverController.a().onTrue(intakeSubsystem.retractCommand());
     m_driverController.b().onTrue(intakeSubsystem.reverseCommand());*/
 

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

@@ -22,7 +22,7 @@ public class ManualHopperCommand extends Command {
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-    m_subsystem.spin(.5);
+    m_subsystem.spin(0);
   }
 
   // Called every time the scheduler runs while the command is scheduled.

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

@@ -8,9 +8,11 @@ import frc.robot.subsystems.TurretSubsystem;
 import edu.wpi.first.units.measure.Angle;
 import edu.wpi.first.wpilibj2.command.Command;
 
+//The Turret does NOT move, hood does NOT move, it will die
+
 /** An example command that uses an example subsystem. **/
 public class SetDeflectorCommand extends Command {
-  private final TurretSubsystem m_subsystem;
+  /*private final TurretSubsystem m_subsystem;
   private Angle deployAngle;
 
   public SetDeflectorCommand(TurretSubsystem subsystem, Angle deployAngle) {
@@ -28,5 +30,5 @@ public class SetDeflectorCommand extends Command {
   @Override
   public boolean isFinished() {
     return true;
-  }
+  }*/
 }

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

@@ -126,7 +126,9 @@ public class TurretSubsystem extends TestableSubsystem {
 
   private void periodicManual()
   {
-    if(passedLimit())
+    //If the hood or turret move, it will be a uh-oh, so DONT MOVE THEM
+    
+    /*if(passedLimit())
     {
       //turretMotor.set(0);
     }
@@ -151,6 +153,6 @@ public class TurretSubsystem extends TestableSubsystem {
     else
     {
       hood.set(0);
-    }
+    }*/
   }
 }