Team_2648/2024_Robot_Code
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two and three peice from left sub works

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This commit is contained in:
Bradley Bickford
2024-03-12 18:16:08 -04:00
parent 5496d9177e
commit f538076438
11 changed files with 176 additions and 81 deletions
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1
src/main/java/frc/robot/Commands/autoIntaking.java
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@@ -28,4 +28,5 @@ public class autoIntaking extends Command{
return true;
}else {return false;}
}
}

42
src/main/java/frc/robot/RobotContainer.java
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@@ -27,6 +27,7 @@ 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.PrintCommand;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import edu.wpi.first.wpilibj2.command.button.Trigger;
@@ -101,9 +102,40 @@ public class RobotContainer {
climber = new Climber(shooter::getShooterAngle);
NamedCommands.registerCommand("Charge Shooter 2 Sec", shooter.angleSpeedsSetpoints(() -> ShooterConstants.kShooterLoadAngle, 1.0, 1.0).withTimeout(2.0));
NamedCommands.registerCommand("Speaker Note Shot", Commands.parallel(shooter.angleSpeedsSetpoints(() -> ShooterConstants.kShooterLoadAngle, 1.0, 1.0), indexer.shootNote(() -> 1.0)).withTimeout(2.0));
NamedCommands.registerCommand("Auto Intake", new autoIntaking(intake, indexer::getBeamBreak).andThen(intake.intakeUpCommand()));
NamedCommands.registerCommand(
"Charge Shooter 2 Sec",
shooter.angleSpeedsSetpoints(
() -> ShooterConstants.kShooterLoadAngle,
1.0,
1.0
).withTimeout(2.0)
);
NamedCommands.registerCommand(
"Speaker Note Shot",
Commands.parallel(
shooter.angleSpeedsSetpoints(
() -> ShooterConstants.kShooterLoadAngle,
1.0,
1.0
),
indexer.shootNote(() -> 1.0)
).withTimeout(2.0)
);
NamedCommands.registerCommand(
"Auto Intake",
Commands.parallel(
intake.intakeControl(
() -> IntakeConstants.kDownAngle,
() -> 1.0
),
indexer.advanceNote()
).withTimeout(3.0)//.until(indexer::getBeamBreak)
);
//NamedCommands.registerCommand("Auto Intake", new PrintCommand("Intake Note"));
// 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
@@ -186,7 +218,7 @@ public class RobotContainer {
)
);
driver.leftTrigger().onFalse(
driver.leftTrigger().whileFalse(
new InstantCommand(
() -> {
intakeDown = false;
@@ -194,7 +226,7 @@ public class RobotContainer {
)
);
driver.leftTrigger().onTrue(Commands.parallel(
driver.leftTrigger().whileTrue(Commands.parallel(
new InstantCommand(
() -> {
intakeDown = true;

6
src/main/java/frc/robot/constants/AutoConstants.java
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@@ -13,9 +13,9 @@ public final class AutoConstants {
public static final double kMaxAngularSpeedRadiansPerSecond = Math.PI;
public static final double kMaxAngularSpeedRadiansPerSecondSquared = Math.PI;
public static final double kPXController = 1.05;//5;
public static final double kPYController = 1.05;//5;
public static final double kPThetaController = 0.95;//0.5; // needs to be separate from heading control
public static final double kPXController = 5.5;//5;
public static final double kPYController = 5.5;//5;
public static final double kPThetaController = 5;//0.5; // needs to be separate from heading control
public static final double kPHeadingController = 0.02; // for heading control NOT PATHING
public static final double kDHeadingController = 0.0025;

2
src/main/java/frc/robot/constants/IntakeConstants.java
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@@ -16,7 +16,7 @@ public class IntakeConstants {
public static final double kGFeedForward = 1;//1.11;
public static final double kVFeedForward = .5;//0.73;
public static final double kStartingAngle = Math.toRadians(105.0);
public static final double kStartingAngle = Math.toRadians(95.0);
public static final double kUpAngle = Math.toRadians(90.0);
public static final double kDownAngle = Math.toRadians(-34.0);