Team_2648/2024_Robot_Code
5
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

manual testing controls

Browse Source
This commit is contained in:
Tyler-J42 2024-02-17 13:47:34 -05:00
parent dde139285a
commit ba548a447a
5 changed files with 22 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
.SysId/sysid.json Normal file
View File

@ -0,0 +1 @@
{}

6
src/main/java/frc/robot/RobotContainer.java
View File

@ -132,9 +132,11 @@ public class RobotContainer {
) )
); );
intake.setDefaultCommand(intake.intakeUpCommand()); //intake.setDefaultCommand(intake.intakeUpCommand());
intake.setDefaultCommand(intake.manualPivot(operator::getLeftY));
shooter.setDefaultCommand(shooter.angleSpeedsSetpoints(ShooterConstants.kShooterLoadAngle, 0.0, 0.0)); // shooter.setDefaultCommand(shooter.angleSpeedsSetpoints(ShooterConstants.kShooterLoadAngle, 0.0, 0.0));
shooter.setDefaultCommand(shooter.manualPivot(operator::getRightY);
climber.setDefaultCommand(climber.stop()); climber.setDefaultCommand(climber.stop());

4
src/main/java/frc/robot/constants/IntakeConstants.java
View File

@ -1,8 +1,8 @@
package frc.robot.constants; package frc.robot.constants;
public class IntakeConstants { public class IntakeConstants {
public static final int kIntakePivotID = 9; public static final int kIntakePivotID = 10;
public static final int kIntakeRollerID = 10; public static final int kIntakeRollerID = 12;
public static final double kIntakePivotConversionFactor = 1/(20.0*(28.0/15.0)); public static final double kIntakePivotConversionFactor = 1/(20.0*(28.0/15.0));

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

@ -1,5 +1,7 @@
package frc.robot.subsystems; package frc.robot.subsystems;
import java.util.function.DoubleSupplier;
import com.revrobotics.CANSparkMax; import com.revrobotics.CANSparkMax;
import com.revrobotics.RelativeEncoder; import com.revrobotics.RelativeEncoder;
import com.revrobotics.CANSparkBase.IdleMode; import com.revrobotics.CANSparkBase.IdleMode;
@ -68,6 +70,12 @@ public class Intake extends SubsystemBase{
}); });
} }
public Command manualPivot(DoubleSupplier pivotPower){
return run(() ->{
intakePivot.set(pivotPower.getAsDouble());
});
}
public Command climbingStateCommand() { public Command climbingStateCommand() {
return run(() -> { return run(() -> {
intakeRoller.set(0.0); intakeRoller.set(0.0);

7
src/main/java/frc/robot/subsystems/Shooter.java
View File

@ -131,4 +131,11 @@ public class Shooter extends SubsystemBase{
public DoubleSupplier getShooterAngle(){ public DoubleSupplier getShooterAngle(){
return () -> {return pivotEncoder.getDistance();}; return () -> {return pivotEncoder.getDistance();};
} }
public Command manualPivot(DoubleSupplier pivotPower){
return run(() ->{
shooterPivot.set(pivotPower.getAsDouble());
});
}
} }