Team_2648/2024_Robot_Code
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after dcmp code

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This commit is contained in:
Bradley Bickford 2024-04-11 18:02:14 -04:00
parent cbf973e946
commit 1217df1397
5 changed files with 23 additions and 15 deletions
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8
src/main/deploy/pathplanner/paths/Center Sub to Note 1.path
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@ -16,12 +16,12 @@
}, },
{ {
"anchor": { "anchor": {
"x": 2.421132842265685, "x": 2.5050384003901907,
"y": 6.728691171668058 "y": 6.829386194384925
}, },
"prevControl": { "prevControl": {
"x": 2.1572626002394863, "x": 2.241168158363992,
"y": 6.3328858086287605 "y": 6.433580831345627
}, },
"nextControl": null, "nextControl": null,
"isLocked": false, "isLocked": false,

16
src/main/java/frc/robot/RobotContainer.java
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@ -140,7 +140,7 @@ public class RobotContainer {
1.0, 1.0,
1.0 1.0
).alongWith(indexer.shootNote(() -> 1.0)) ).alongWith(indexer.shootNote(() -> 1.0))
.withTimeout(1.0) .withTimeout(0.75)
) )
); );
@ -168,7 +168,7 @@ public class RobotContainer {
.andThen( .andThen(
intake.stopAll() intake.stopAll()
) )
//.withTimeout(1.0) .withTimeout(2.5)
); );
//NamedCommands.registerCommand("Auto Intake", new PrintCommand("Intake Note")); //NamedCommands.registerCommand("Auto Intake", new PrintCommand("Intake Note"));
@ -226,9 +226,9 @@ public class RobotContainer {
drivetrain.setDefaultCommand( drivetrain.setDefaultCommand(
drivetrain.teleopCommand( drivetrain.teleopCommand(
() -> { return driver.getLeftY() * (invertXYDrive ? -1 : 1); }, () -> { return driver.getLeftY(); /*(invertXYDrive ? -1 : 1);*/ },
() -> { return driver.getLeftX() * (invertXYDrive ? -1 : 1); }, () -> { return driver.getLeftX(); /*(invertXYDrive ? -1 : 1);*/ },
() -> { return driver.getRightX() * (invertXYDrive ? -1 : 1); }, () -> { return driver.getRightX(); /*(invertXYDrive ? -1 : 1);*/ },
OIConstants.kTeleopDriveDeadband OIConstants.kTeleopDriveDeadband
) )
); );
@ -409,17 +409,19 @@ public class RobotContainer {
//operator.a().whileTrue(shooter.angleSpeedsSetpoints(ShooterConstants.kShooterAmpAngle, 0, 0)); //operator.a().whileTrue(shooter.angleSpeedsSetpoints(ShooterConstants.kShooterAmpAngle, 0, 0));
operator.y().whileTrue(Commands.parallel(climber.setSpeedWithSupplier(operator::getRightTriggerAxis), shooter.climbState(), intake.climbingStateCommand())); operator.y().toggleOnTrue(Commands.parallel(climber.setSpeedWithSupplier(operator::getRightTriggerAxis), shooter.climbState(), intake.climbingStateCommand()));
driver.a().whileTrue(indexer.shootNote(() -> 1.0)); driver.a().whileTrue(indexer.shootNote(() -> 1.0));
operator.back().toggleOnTrue(shooter.manualPivot( operator.back().toggleOnTrue(shooter.manualPivot(
() -> MathUtil.clamp(-operator.getLeftY(), -0.5, 0.5), () -> MathUtil.clamp(-operator.getLeftY(), -0.25, 0.25),
() -> MathUtil.clamp(driver.getRightTriggerAxis(), -1, 1) () -> MathUtil.clamp(driver.getRightTriggerAxis(), -1, 1)
)); ));
driver.povDown().whileTrue(indexer.shootNote(() -> -1.0)); driver.povDown().whileTrue(indexer.shootNote(() -> -1.0));
operator.leftTrigger().whileTrue(Commands.parallel( indexer.shootNote(() -> -1), intake.intakeControl(() -> IntakeConstants.kDownAngle, () -> -1.0)));
operator.start().toggleOnTrue(intake.manualPivot(() -> -operator.getRightY()*0.2, () -> driver.getLeftTriggerAxis())); operator.start().toggleOnTrue(intake.manualPivot(() -> -operator.getRightY()*0.2, () -> driver.getLeftTriggerAxis()));
} }

6
src/main/java/frc/robot/subsystems/Drivetrain.java
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@ -326,9 +326,9 @@ public class Drivetrain extends SubsystemBase {
public Command teleopCommand(DoubleSupplier xSpeed, DoubleSupplier ySpeed, DoubleSupplier rotation, double deadband) { public Command teleopCommand(DoubleSupplier xSpeed, DoubleSupplier ySpeed, DoubleSupplier rotation, double deadband) {
return run(() -> { return run(() -> {
drive( drive(
MathUtil.applyDeadband(xSpeed.getAsDouble(), deadband), -MathUtil.applyDeadband(xSpeed.getAsDouble(), deadband),
MathUtil.applyDeadband(ySpeed.getAsDouble(), deadband), -MathUtil.applyDeadband(ySpeed.getAsDouble(), deadband),
MathUtil.applyDeadband(rotation.getAsDouble(), deadband), -MathUtil.applyDeadband(rotation.getAsDouble(), deadband),
() -> fieldRelativeControl, () -> fieldRelativeControl,
true true
); );

1
src/main/java/frc/robot/subsystems/Intake.java
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@ -116,6 +116,7 @@ public class Intake extends SubsystemBase{
); );
}); });
} }
public Command manualPivot(DoubleSupplier pivotPower, DoubleSupplier rollerSpinny){ public Command manualPivot(DoubleSupplier pivotPower, DoubleSupplier rollerSpinny){
return run(() ->{ return run(() ->{

7
src/main/java/frc/robot/subsystems/Shooter.java
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@ -7,6 +7,7 @@ import com.revrobotics.CANSparkMax;
import com.revrobotics.CANSparkBase.IdleMode; import com.revrobotics.CANSparkBase.IdleMode;
import com.revrobotics.CANSparkLowLevel.MotorType; import com.revrobotics.CANSparkLowLevel.MotorType;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.math.controller.ArmFeedforward; import edu.wpi.first.math.controller.ArmFeedforward;
import edu.wpi.first.math.controller.PIDController; import edu.wpi.first.math.controller.PIDController;
import edu.wpi.first.wpilibj.DigitalInput; import edu.wpi.first.wpilibj.DigitalInput;
@ -144,8 +145,12 @@ public class Shooter extends SubsystemBase{
public Command manualPivot(DoubleSupplier pivotPower, DoubleSupplier spinny){ public Command manualPivot(DoubleSupplier pivotPower, DoubleSupplier spinny){
return run(() ->{ return run(() ->{
shooterPivot.setIdleMode(IdleMode.kBrake); shooterPivot.setIdleMode(IdleMode.kBrake);
if(getShooterAngle() >= ShooterConstants.kShooterLoadAngle || getShooterAngle() <= ShooterConstants.kShooterAmpAngle){ if(getShooterAngle() >= ShooterConstants.kShooterLoadAngle && getShooterAngle() <= ShooterConstants.kShooterAmpAngle){
shooterPivot.set(pivotPower.getAsDouble()); shooterPivot.set(pivotPower.getAsDouble());
}else if(getShooterAngle() > ShooterConstants.kShooterAmpAngle){
shooterPivot.set(MathUtil.clamp(pivotPower.getAsDouble(), -1.0, 0.0));
}else if(getShooterAngle() < ShooterConstants.kShooterLoadAngle){
shooterPivot.set(MathUtil.clamp(pivotPower.getAsDouble(), 0.0, 1.0));
} }
topShooter.set(spinny.getAsDouble()); topShooter.set(spinny.getAsDouble());