Team_2648/2026-Robot-Code
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more bindings n stuff

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This commit is contained in:
Tylr-J42
2026-03-05 00:28:37 -05:00
parent 4171da889f
commit 77f2c54a90
4 changed files with 6 additions and 6 deletions
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4
src/main/java/frc/robot/RobotContainer.java
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@@ -83,8 +83,8 @@ public class RobotContainer {
shiftTimer = new Timer(); shiftTimer = new Timer();
shiftTimer.reset(); shiftTimer.reset();
//configureBindings(); configureBindings();
testConfigureBindings(); //testConfigureBindings();
configureShiftDisplay(); configureShiftDisplay();
if(AutoConstants.kAutoConfigOk) { if(AutoConstants.kAutoConfigOk) {

4
src/main/java/frc/robot/constants/IntakePivotConstants.java
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@@ -51,7 +51,7 @@ public class IntakePivotConstants {
KLeftMotorConfig KLeftMotorConfig
.idleMode(kIdleMode) .idleMode(kIdleMode)
.smartCurrentLimit(kCurrentLimit) .smartCurrentLimit(kCurrentLimit)
.inverted(kInvertMotors); .inverted(false);
KLeftMotorConfig.encoder KLeftMotorConfig.encoder
.positionConversionFactor(kConversionFactor) .positionConversionFactor(kConversionFactor)
.velocityConversionFactor(kConversionFactor / 60); .velocityConversionFactor(kConversionFactor / 60);
@@ -67,7 +67,7 @@ public class IntakePivotConstants {
kRightMotorConfig kRightMotorConfig
.idleMode(kIdleMode) .idleMode(kIdleMode)
.smartCurrentLimit(kCurrentLimit) .smartCurrentLimit(kCurrentLimit)
.inverted(kInvertMotors) .inverted(false)
.follow(kLeftMotorCANID); .follow(kLeftMotorCANID);
} }
} }

3
src/main/java/frc/robot/constants/ShooterConstants.java
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@@ -9,12 +9,11 @@ import edu.wpi.first.math.util.Units;
public class ShooterConstants { public class ShooterConstants {
public enum ShooterSpeeds { public enum ShooterSpeeds {
kHubSpeed(3000.0), kHubSpeed(3000.0),
kFeedSpeed(5000.0); kFeedSpeed(5000.0),
kIdleSpeed(750.0); kIdleSpeed(750.0);
private double speedMPS; private double speedMPS;
private double speedRPM; private double speedRPM;
private double kIdleSpeed;
private ShooterSpeeds(double speedRPM) { private ShooterSpeeds(double speedRPM) {
this.speedMPS = speedRPM * kWheelDiameter*Math.PI; this.speedMPS = speedRPM * kWheelDiameter*Math.PI;

1
src/main/java/frc/robot/subsystems/IntakePivot.java
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@@ -76,6 +76,7 @@ public class IntakePivot extends SubsystemBase {
currentTargetPosition = null; currentTargetPosition = null;
leftMotor.set(speed.getAsDouble() * IntakePivotConstants.kMaxManualSpeedMultiplier); leftMotor.set(speed.getAsDouble() * IntakePivotConstants.kMaxManualSpeedMultiplier);
rightMotor.set(speed.getAsDouble() * IntakePivotConstants.kMaxManualSpeedMultiplier);
}); });
} }