Team_2648/2024_Robot_Code
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before trailer load testing TO GRANITE STATE

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This commit is contained in:
Bradley Bickford 2024-02-27 17:33:14 -05:00
parent 4ed2706fce
commit 4c8c449776
4 changed files with 15 additions and 13 deletions
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6
src/main/deploy/pathplanner/autos/Right Subwoofer 1S.auto
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@ -17,12 +17,6 @@
"name": "Charge Shooter"
}
},
{
"type": "wait",
"data": {
"waitTime": 2.0
}
},
{
"type": "named",
"data": {

2
src/main/java/frc/robot/Commands/AmpHandoff.java
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@ -7,7 +7,7 @@ import frc.robot.subsystems.Shooter;
public class AmpHandoff extends ParallelCommandGroup{
AmpHandoff(Indexer indexer, Shooter shooter){
addCommands(indexer.shootNote(() -> 1), shooter.ampHandoff());
//addCommands(indexer.shootNote(() -> 1), shooter.ampHandoff());
}
}

13
src/main/java/frc/robot/RobotContainer.java
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@ -90,8 +90,8 @@ public class RobotContainer {
climber = new Climber(shooter::getShooterAngle);
NamedCommands.registerCommand("Charge Shooter", shooter.angleSpeedsSetpoints(() -> ShooterConstants.kShooterLoadAngle, 1.0, 1.0));
NamedCommands.registerCommand("Speake Note Shot", Commands.parallel(shooter.angleSpeedsSetpoints(() -> ShooterConstants.kShooterLoadAngle, 1.0, 1.0), indexer.shootNote(() -> 1.0)));
NamedCommands.registerCommand("Charge Shooter 2 Sec", shooter.angleSpeedsSetpoints(() -> ShooterConstants.kShooterLoadAngle, 1.0, 1.0).withTimeout(2.0));
NamedCommands.registerCommand("Speaker Note Shot", Commands.parallel(shooter.angleSpeedsSetpoints(() -> ShooterConstants.kShooterLoadAngle, 1.0, 1.0), indexer.shootNote(() -> 1.0)).withTimeout(2.0));
// An example Named Command, doesn't need to remain once we start actually adding real things
// ALL Named Commands need to be defined AFTER subsystem initialization and BEFORE auto/controller configuration
@ -241,6 +241,13 @@ public class RobotContainer {
*/
driver.start().onTrue(drivetrain.toggleFieldRelativeControl());
operator.b().whileTrue(Commands.parallel(indexer.shootNote(() -> 1.0), shooter.ampHandoff(() -> driver.getRightTriggerAxis(), () -> {
if(operator.getRightTriggerAxis()>0.25){
return true;
}else{
return false;
}
})));
//driver.leftBumper().toggleOnTrue(intake.intakeDownCommand());
@ -250,7 +257,7 @@ public class RobotContainer {
//operator.a().whileTrue(shooter.angleSpeedsSetpoints(ShooterConstants.kShooterAmpAngle, 0, 0));
operator.y().whileTrue(climber.setSpeedWithSupplier(operator::getRightTriggerAxis));
operator.y().whileTrue(Commands.parallel(climber.setSpeedWithSupplier(operator::getRightTriggerAxis), shooter.climbState()));
driver.a().whileTrue(indexer.shootNote(() -> 1.0));

7
src/main/java/frc/robot/subsystems/Shooter.java
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@ -109,8 +109,9 @@ public class Shooter extends SubsystemBase{
bottomShooter.set(bottomRPM);
}
public Command ampHandoff(){
public Command ampHandoff(DoubleSupplier shootNoteSpeed, BooleanSupplier ampAngleOrNah){
return run(() -> {
shooterPivot.setIdleMode(IdleMode.kBrake);
shooterPivot.setVoltage(
@ -118,9 +119,9 @@ public class Shooter extends SubsystemBase{
shooterPivotFF.calculate(ShooterConstants.kShooterLoadAngle, 0.0));
if(shooterBeamBreak.get() || indexerBeamBreak){
angleAndSpeedControl(ShooterConstants.kShooterLoadAngle, 0.5, 0.5);
angleAndSpeedControl(ShooterConstants.kShooterLoadAngle, 0.25, 0.25);
}else{
angleAndSpeedControl(ShooterConstants.kShooterAmpAngle, 0, 0);
angleAndSpeedControl(ShooterConstants.kShooterLoadAngle, shootNoteSpeed.getAsDouble(), shootNoteSpeed.getAsDouble());
}
});
}