Team_2648/2024_Robot_Code
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after merge

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This commit is contained in:
Bradley Bickford
2024-02-27 15:59:11 -05:00
parent 82c8e1dcb0 cd28d8211f
commit 4ed2706fce
14 changed files with 115 additions and 19 deletions
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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(null), shooter.ampHandoff());
addCommands(indexer.shootNote(() -> 1), shooter.ampHandoff());
}
}

4
src/main/java/frc/robot/RobotContainer.java
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@@ -21,6 +21,7 @@ import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import edu.wpi.first.wpilibj2.command.button.Trigger;
@@ -89,7 +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)));
// 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

2
src/main/java/frc/robot/constants/DrivetrainConstants.java
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@@ -47,5 +47,5 @@ public final class DrivetrainConstants {
public static final boolean kGyroReversed = true;
public static final double kRobotStartOffset = 0.0;
public static final double kRobotStartOffset = 0;
}

4
src/main/java/frc/robot/constants/IntakeConstants.java
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@@ -13,8 +13,8 @@ public class IntakeConstants {
public static final double kDIntake = 0;
public static final double kSFeedForward = 0;
public static final double kGFeedForward = 0;
public static final double kVFeedForward = 0;
public static final double kGFeedForward = 1.11;
public static final double kVFeedForward = 0.73;
public static final double kStartingAngle = Math.toRadians(105.0);
public static final double kUpAngle = Math.toRadians(90.0);

4
src/main/java/frc/robot/constants/ShooterConstants.java
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@@ -22,8 +22,8 @@ public class ShooterConstants {
public static final double kPivotConversion = 1/(40.0*(28.0/15.0));
public static final double kSShooterPivotFF = 0.0;
public static final double kGShooterPivotFF = 0.0;
public static final double kVShooterPivotFF = 0.0;
public static final double kGShooterPivotFF = 0.33;
public static final double kVShooterPivotFF = 1.44;
public static final double kMaxPivotSpeed = 0.0;
public static final double kMaxPivotAcceleration = 0.0;

1
src/main/java/frc/robot/subsystems/Indexer.java
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@@ -2,7 +2,6 @@ package frc.robot.subsystems;
import com.revrobotics.CANSparkMax;
import java.util.function.BooleanSupplier;
import java.util.function.DoubleSupplier;
import com.revrobotics.CANSparkBase.IdleMode;