Named Commands and calculated feedforwards

src/main/deploy/pathplanner/autos/Right 1S 2A.auto

@@ -20,7 +20,7 @@
         {
           "type": "path",
           "data": {
-            "pathName": "Preloaded+Pickup"
+            "pathName": "Left Preloaded+Pickup"
           }
         },
         {

src/main/deploy/pathplanner/autos/Right 2 Amp.auto

@@ -14,7 +14,7 @@
         {
           "type": "path",
           "data": {
-            "pathName": "Preloaded+Pickup"
+            "pathName": "Left Preloaded+Pickup"
           }
         },
         {

src/main/deploy/pathplanner/autos/Right 3 Amp.auto

@@ -14,7 +14,7 @@
         {
           "type": "path",
           "data": {
-            "pathName": "Preloaded+Pickup"
+            "pathName": "Left Preloaded+Pickup"
           }
         },
         {

src/main/deploy/pathplanner/autos/Right Subwoofer 1S.auto

@@ -0,0 +1,43 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 1.0578032584636603,
+      "y": 4.485794114445372
+    },
+    "rotation": 141.84277341263092
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "Charge Shooter"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 2.0
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Speaker Note Shot"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Right Subwoofer to Center"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/paths/Right Subwoofer to Center.path

@@ -0,0 +1,52 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 1.0578032584636603,
+        "y": 4.485794114445372
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 1.5708842846257125,
+        "y": 2.6240429623716395
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.0095431619434665,
+        "y": 0.8355890997496291
+      },
+      "prevControl": {
+        "x": 6.0095431619434665,
+        "y": 0.8355890997496291
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "rotation": 144.68878656036674,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}

src/main/java/frc/robot/Commands/AmpHandoff.java

@@ -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());
     }
     
 }

src/main/java/frc/robot/Commands/SpeakerShot.java

@@ -8,6 +8,6 @@ import frc.robot.subsystems.Shooter;
 public class SpeakerShot extends ParallelCommandGroup{
     
     SpeakerShot(Indexer indexer, Shooter shooter){
-        addCommands(shooter.angleSpeedsSetpoints(ShooterConstants.kShooterLoadAngle, 0, 0), indexer.shootNote(() -> 1.0));
+        addCommands(shooter.angleSpeedsSetpoints(ShooterConstants.kShooterLoadAngle, 0, 0), indexer.shootNote( 1.0));
     }
 }

src/main/java/frc/robot/RobotContainer.java

@@ -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;
@@ -87,7 +88,8 @@ 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
@@ -143,7 +145,7 @@ public class RobotContainer {
 
         climber.setDefaultCommand(climber.stop());
 
-        indexer.setDefaultCommand(indexer.shootNote(operator::getRightTriggerAxis));
+        indexer.setDefaultCommand(indexer.shootNote(operator.getRightTriggerAxis()));
 
         driver.povCenter().onFalse(
             drivetrain.driveCardinal(
@@ -210,7 +212,7 @@ public class RobotContainer {
 
         driver.leftBumper().toggleOnTrue(intake.intakeDownCommand());
 
-        operator.y().onTrue(climber.setSpeedWithSupplier(operator::getRightTriggerAxis));
+        operator.y().whileTrue(Commands.parallel(climber.setSpeedWithSupplier(operator::getRightTriggerAxis), shooter.climbState()));
         
   }
 

src/main/java/frc/robot/constants/DrivetrainConstants.java

@@ -47,5 +47,5 @@ public final class DrivetrainConstants {
 
     public static final boolean kGyroReversed = true;
 
-    public static final double kRobotStartOffset = 90;
+    public static final double kRobotStartOffset = 0;
 }

src/main/java/frc/robot/constants/IntakeConstants.java

@@ -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 kGFeedForward = 1.11;
-    public static final double kVFeedForward = 0;
+    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);

src/main/java/frc/robot/constants/ShooterConstants.java

@@ -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 kGShooterPivotFF = 0.33;
-    public static final double kVShooterPivotFF = 0.0;
+    public static final double kVShooterPivotFF = 1.44;
 
     public static final double kMaxPivotSpeed = 0.0;
     public static final double kMaxPivotAcceleration = 0.0;

src/main/java/frc/robot/subsystems/Indexer.java

@@ -49,9 +49,9 @@ public class Indexer extends SubsystemBase{
         });
     }
     
-    public Command shootNote(DoubleSupplier indexerSpeed){
+    public Command shootNote(double indexerSpeed){
         return run(() -> {
-            indexerMotor.set(indexerSpeed.getAsDouble());
+            indexerMotor.set(indexerSpeed);
         });
     }
 

vendordeps/PathplannerLib.json

@@ -1,7 +1,7 @@
 {
     "fileName": "PathplannerLib.json",
     "name": "PathplannerLib",
-    "version": "2024.2.3",
+    "version": "2024.2.4",
     "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
     "frcYear": "2024",
     "mavenUrls": [
@@ -12,7 +12,7 @@
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-java",
-            "version": "2024.2.3"
+            "version": "2024.2.4"
         }
     ],
     "jniDependencies": [],
@@ -20,7 +20,7 @@
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-cpp",
-            "version": "2024.2.3",
+            "version": "2024.2.4",
             "libName": "PathplannerLib",
             "headerClassifier": "headers",
             "sharedLibrary": false,

vendordeps/REVLib.json

@@ -1,7 +1,7 @@
 {
     "fileName": "REVLib.json",
     "name": "REVLib",
-    "version": "2024.2.1",
+    "version": "2024.2.2",
     "frcYear": "2024",
     "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
     "mavenUrls": [
@@ -12,14 +12,14 @@
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-java",
-            "version": "2024.2.1"
+            "version": "2024.2.2"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-driver",
-            "version": "2024.2.1",
+            "version": "2024.2.2",
             "skipInvalidPlatforms": true,
             "isJar": false,
             "validPlatforms": [
@@ -37,7 +37,7 @@
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-cpp",
-            "version": "2024.2.1",
+            "version": "2024.2.2",
             "libName": "REVLib",
             "headerClassifier": "headers",
             "sharedLibrary": false,
@@ -55,7 +55,7 @@
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-driver",
-            "version": "2024.2.1",
+            "version": "2024.2.2",
             "libName": "REVLibDriver",
             "headerClassifier": "headers",
             "sharedLibrary": false,