Team_2648/2025_Robot_Code
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algae barge shot is in, but needs tuning

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Team 2648 2025-03-18 19:02:16 -04:00
parent 51ef5ff2d0
commit 50f402f36f
2 changed files with 13 additions and 0 deletions
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11
src/main/java/frc/robot/RobotContainer.java
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@ -34,6 +34,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController; import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import edu.wpi.first.wpilibj2.command.button.Trigger;
public class RobotContainer { public class RobotContainer {
private ClimberPivot climberPivot; private ClimberPivot climberPivot;
@ -226,6 +227,8 @@ public class RobotContainer {
.until(() -> driver.a().getAsBoolean()) .until(() -> driver.a().getAsBoolean())
); );
operator.rightTrigger().onTrue(shootAlgae());
} }
private void configureNamedCommands() { private void configureNamedCommands() {
new EventTrigger("Lift L4").onTrue(safeMoveManipulator(ElevatorConstants.kL4Position, ManipulatorPivotConstants.kL4Position)); new EventTrigger("Lift L4").onTrue(safeMoveManipulator(ElevatorConstants.kL4Position, ManipulatorPivotConstants.kL4Position));
@ -489,6 +492,14 @@ public class RobotContainer {
.raceWith(elevator.maintainPosition())); .raceWith(elevator.maintainPosition()));
} }
private Command shootAlgae(){
return manipulatorPivot.goToSetpoint(() -> ManipulatorPivotConstants.kBargeShotPosition)
.andThen(elevator.goToSetpoint(() -> ElevatorConstants.kL4Position), manipulatorPivot.goToSetpoint(() -> ManipulatorPivotConstants.kBargeShotPosition)
.raceWith(elevator.maintainPosition())).until(() -> elevator.getEncoderPosition()>30).andThen(manipulator.runManipulator(() -> -1, false),
elevator.goToSetpoint(() -> ElevatorConstants.kL4Position), manipulatorPivot.goToSetpoint(() -> ManipulatorPivotConstants.kBargeShotPosition)
.raceWith(elevator.maintainPosition()));
}
@SuppressWarnings("unused") @SuppressWarnings("unused")
private Command startingConfig() { private Command startingConfig() {
return moveManipulatorUtil(0, 0, false, true) return moveManipulatorUtil(0, 0, false, true)

2
src/main/java/frc/robot/constants/ManipulatorPivotConstants.java
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@ -48,6 +48,8 @@ public class ManipulatorPivotConstants {
public static final double kNetPosition = Units.degreesToRadians(175.0+90); public static final double kNetPosition = Units.degreesToRadians(175.0+90);
/**The closest position to the elevator brace without hitting it */ /**The closest position to the elevator brace without hitting it */
public static final double kPivotSafeStowPosition = Units.degreesToRadians(71.0+90); public static final double kPivotSafeStowPosition = Units.degreesToRadians(71.0+90);
public static final double kBargeShotPosition = Units.degreesToRadians(222);
/**The forward rotation limit of the pivot */ /**The forward rotation limit of the pivot */
public static final double kRotationLimit = Units.degreesToRadians(175.0+90); public static final double kRotationLimit = Units.degreesToRadians(175.0+90);