Team_2648/2024_Robot_Code
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granite state day 1 code

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This commit is contained in:
Bradley Bickford 2024-03-01 08:30:05 -05:00
parent 662c31702f
commit b9eb688584
3 changed files with 6 additions and 8 deletions
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4
src/main/java/frc/robot/RobotContainer.java
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@ -262,8 +262,8 @@ public class RobotContainer {
driver.a().whileTrue(indexer.shootNote(() -> 1.0));
operator.back().toggleOnTrue(shooter.manualPivot(
() -> operator.getLeftY(),
() -> operator.getRightTriggerAxis()-operator.getLeftTriggerAxis()
() -> MathUtil.clamp(-operator.getLeftY(), -0.75, 0.75),
() -> MathUtil.clamp(operator.getRightTriggerAxis()-operator.getLeftTriggerAxis(), -0.75, 0.75)
));
operator.start().onTrue(shooter.zeroEncoder());

2
src/main/java/frc/robot/constants/AutoConstants.java
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@ -24,7 +24,7 @@ public final class AutoConstants {
new PIDConstants(kPXController),
new PIDConstants(kPThetaController),
kMaxSpeedMetersPerSecond,
Units.inchesToMeters(34.65),
Units.inchesToMeters(Math.sqrt(Math.pow(28-17.5, 2)+ Math.pow(28-1.75, 2))),
new ReplanningConfig()
);

8
src/main/java/frc/robot/subsystems/Climber.java
View File

@ -8,6 +8,7 @@ import com.ctre.phoenix.motorcontrol.can.VictorSPX;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.constants.ClimberConstants;
import frc.robot.constants.ShooterConstants;
public class Climber extends SubsystemBase {
private VictorSPX motor1;
@ -29,11 +30,8 @@ public class Climber extends SubsystemBase {
public Command setSpeedWithSupplier(DoubleSupplier speed) {
return run(() -> {
if(shooterAngle.getAsDouble() > Math.toRadians(-5.0)){
motor1.set(VictorSPXControlMode.PercentOutput, speed.getAsDouble());
}else{
motor1.set(VictorSPXControlMode.PercentOutput, 0);
}
motor1.set(VictorSPXControlMode.PercentOutput, speed.getAsDouble());
});
}