Team_2648/2024_Robot_Code
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code works gooda pine tree

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This commit is contained in:
Bradley Bickford 2024-03-16 18:10:49 -04:00
parent 798dda7809
commit d828d5c110
3 changed files with 12 additions and 4 deletions
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10
src/main/java/frc/robot/RobotContainer.java
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@ -226,8 +226,8 @@ public class RobotContainer {
drivetrain.setDefaultCommand( drivetrain.setDefaultCommand(
drivetrain.teleopCommand( drivetrain.teleopCommand(
() -> { return driver.getLeftY() * (invertXYDrive ? -1 : 1); }, () -> { return driver.getLeftY() /* * (invertXYDrive ? -1 : 1)*/; },
() -> { return driver.getLeftX() * (invertXYDrive ? -1 : 1); }, () -> { return driver.getLeftX() /* * (invertXYDrive ? -1 : 1)*/; },
() -> { return -driver.getRightX(); }, () -> { return -driver.getRightX(); },
OIConstants.kTeleopDriveDeadband OIConstants.kTeleopDriveDeadband
) )
@ -311,7 +311,7 @@ public class RobotContainer {
indexer.setDefaultCommand(indexer.shootNote( indexer.setDefaultCommand(indexer.shootNote(
() -> { () -> {
if (driver.getRightTriggerAxis() > .25) { if (driver.getRightTriggerAxis() > .25) {
return -1.0; return 1.0;
}else { }else {
return 0.0; return 0.0;
} }
@ -381,6 +381,8 @@ public class RobotContainer {
// This was originally a run while held, not sure that's really necessary, change it if need be // This was originally a run while held, not sure that's really necessary, change it if need be
driver.rightBumper().onTrue(drivetrain.setXCommand()); driver.rightBumper().onTrue(drivetrain.setXCommand());
operator.rightTrigger().whileTrue(indexer.shootNote(() -> -1.0));
/* /*
* This has been added because interest has been expressed in trying field relative vs * This has been added because interest has been expressed in trying field relative vs
* robot relative control. This should <i>default</i> to field relative, but give the option * robot relative control. This should <i>default</i> to field relative, but give the option
@ -419,7 +421,7 @@ public class RobotContainer {
driver.povDown().whileTrue(indexer.shootNote(() -> -1.0)); driver.povDown().whileTrue(indexer.shootNote(() -> -1.0));
operator.start().onTrue(shooter.zeroEncoder()); operator.start().toggleOnTrue(intake.manualPivot(() -> -operator.getRightY()*0.2, () -> driver.getLeftTriggerAxis()));
//operator.povDown().whileTrue(intake.intakeDownCommand()); //operator.povDown().whileTrue(intake.intakeDownCommand());
//operator.povUp().whileTrue(intake.intakeUpCommand()); //operator.povUp().whileTrue(intake.intakeUpCommand());

5
src/main/java/frc/robot/subsystems/Drivetrain.java
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@ -20,8 +20,10 @@ import java.util.function.DoubleSupplier;
import com.kauailabs.navx.frc.AHRS; import com.kauailabs.navx.frc.AHRS;
import com.pathplanner.lib.auto.AutoBuilder; import com.pathplanner.lib.auto.AutoBuilder;
import edu.wpi.first.wpilibj.ADXRS450_Gyro;
import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.SPI; import edu.wpi.first.wpilibj.SPI;
import edu.wpi.first.wpilibj.interfaces.Gyro;
import frc.robot.constants.AutoConstants; import frc.robot.constants.AutoConstants;
import frc.robot.constants.DrivetrainConstants; import frc.robot.constants.DrivetrainConstants;
import frc.robot.utilities.MAXSwerveModule; import frc.robot.utilities.MAXSwerveModule;
@ -43,6 +45,7 @@ public class Drivetrain extends SubsystemBase {
// The gyro sensor // The gyro sensor
private final AHRS m_gyro; private final AHRS m_gyro;
//private final ADXRS450_Gyro m_gyro;
private final SlewRateLimiter m_magLimiter; private final SlewRateLimiter m_magLimiter;
private final SlewRateLimiter m_rotLimiter; private final SlewRateLimiter m_rotLimiter;
@ -92,6 +95,8 @@ public class Drivetrain extends SubsystemBase {
// TODO The NavX is not centered in the robot, it's output probably needs to be translated // TODO The NavX is not centered in the robot, it's output probably needs to be translated
m_gyro = new AHRS(SPI.Port.kMXP); m_gyro = new AHRS(SPI.Port.kMXP);
// m_gyro = new ADXRS450_Gyro();
//m_gyro.calibrate();
m_magLimiter = new SlewRateLimiter(DrivetrainConstants.kMagnitudeSlewRate); m_magLimiter = new SlewRateLimiter(DrivetrainConstants.kMagnitudeSlewRate);
m_rotLimiter = new SlewRateLimiter(DrivetrainConstants.kRotationalSlewRate); m_rotLimiter = new SlewRateLimiter(DrivetrainConstants.kRotationalSlewRate);

1
src/main/java/frc/robot/subsystems/Intake.java
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@ -40,6 +40,7 @@ public class Intake extends SubsystemBase{
intakePivot.setIdleMode(IdleMode.kBrake); intakePivot.setIdleMode(IdleMode.kBrake);
intakePivot.setSmartCurrentLimit(IntakeConstants.kPivotCurrentLimit); intakePivot.setSmartCurrentLimit(IntakeConstants.kPivotCurrentLimit);
intakePivot.setInverted(true);
intakePivot.burnFlash(); intakePivot.burnFlash();
intakeFeedForward = new ArmFeedforward( intakeFeedForward = new ArmFeedforward(