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fixes from sun and mon

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all working minus drivetrain
 lil funky
This commit is contained in:
Ryan Manley
2022-03-07 15:26:05 -07:00
parent 8ca6a83bf0
commit 31241e3241
9 changed files with 70 additions and 59 deletions
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src/main/java/frc4388/robot/subsystems/BoomBoom.java
+1 -1
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@@ -189,7 +189,7 @@ public class BoomBoom extends SubsystemBase {
public void runDrumShooterVelocityPID(double targetVel) {
m_shooterFalconLeft.set(TalonFXControlMode.Velocity, targetVel); // Init
m_shooterFalconRight.follow(m_shooterFalconLeft);
// New BoomBoom controller stuff
// Controls a motor with the output of the BangBang controller
// Controls a motor with the output of the BangBang conroller and a feedforward
src/main/java/frc4388/robot/subsystems/Hood.java
+2 -2
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@@ -46,8 +46,8 @@ public double m_fireAngle;
m_hoodUpLimitSwitch.enableLimitSwitch(true);
m_hoodDownLimitSwitch.enableLimitSwitch(true);
m_angleAdjusterMotor.setSoftLimit(SoftLimitDirection.kForward, ShooterConstants.HOOD_FORWARD_LIMIT);
m_angleAdjusterMotor.setSoftLimit(SoftLimitDirection.kReverse, ShooterConstants.HOOD_REVERSE_LIMIT);
m_angleAdjusterMotor.setSoftLimit(SoftLimitDirection.kForward, (float) ShooterConstants.HOOD_FORWARD_LIMIT);
m_angleAdjusterMotor.setSoftLimit(SoftLimitDirection.kReverse, (float) ShooterConstants.HOOD_REVERSE_LIMIT);
setHoodSoftLimits(true);
}
src/main/java/frc4388/robot/subsystems/Storage.java
+7 -1
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@@ -19,6 +19,12 @@ public class Storage extends SubsystemBase {
m_beamShooter = beamShooter;
m_beamIntake = beamIntake;
}
public Storage(CANSparkMax storageMotor) {
m_storageMotor = storageMotor;
m_beamShooter = null;
m_beamIntake = null;
}
/**
* If The Beam Is Broken, Run Storage
* If Else, Stop Running Storage
@@ -57,6 +63,6 @@ public class Storage extends SubsystemBase {
* Every Robot Tick Manage The Storage
*/
public void periodic() {
manageStorage();
//manageStorage();
}
}
src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+1 -1
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@@ -152,7 +152,7 @@ public class SwerveDrive extends SubsystemBase {
for (int i = 0; i < desiredStates.length; i++) {
SwerveModule module = modules[i];
SwerveModuleState state = desiredStates[i];
module.setDesiredState(state, false);
module.setDesiredState(state, ignoreAngles);
}
// modules[0].setDesiredState(desiredStates[0], false);
}
src/main/java/frc4388/robot/subsystems/Turret.java
+8 -8
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@@ -29,7 +29,7 @@ public class Turret extends SubsystemBase {
public CANSparkMax m_boomBoomRotateMotor;// = new CANSparkMax(ShooterConstants.SHOOTER_ROTATE_ID,
// MotorType.kBrushless);
public static Gains m_shooterTGains = ShooterConstants.SHOOTER_TURRET_GAINS;
SparkMaxLimitSwitch m_boomBoomRightLimit, m_boomBoomLeftLimit;
// SparkMaxLimitSwitch m_boomBoomRightLimit, m_boomBoomLeftLimit;
public Gyro m_turretGyro;
public double m_targetDistance = 0;
@@ -47,18 +47,18 @@ public class Turret extends SubsystemBase {
m_boomBoomRotateEncoder = m_boomBoomRotateMotor.getEncoder();
m_boomBoomRotateMotor.setIdleMode(IdleMode.kBrake);
m_boomBoomLeftLimit = m_boomBoomRotateMotor.getReverseLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
m_boomBoomRightLimit = m_boomBoomRotateMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
m_boomBoomRightLimit.enableLimitSwitch(true);
m_boomBoomLeftLimit.enableLimitSwitch(true);
SmartDashboard.putBoolean("Right Limit Switch Enabled", m_boomBoomRightLimit.isLimitSwitchEnabled());
SmartDashboard.putBoolean("Left Limit Switch Enabled", m_boomBoomLeftLimit.isLimitSwitchEnabled());
// m_boomBoomLeftLimit = m_boomBoomRotateMotor.getReverseLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
// m_boomBoomRightLimit = m_boomBoomRotateMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
// m_boomBoomRightLimit.enableLimitSwitch(true);
// m_boomBoomLeftLimit.enableLimitSwitch(true);
// SmartDashboard.putBoolean("Right Limit Switch Enabled", m_boomBoomRightLimit.isLimitSwitchEnabled());
// SmartDashboard.putBoolean("Left Limit Switch Enabled", m_boomBoomLeftLimit.isLimitSwitchEnabled());
m_boomBoomRotateMotor.setSoftLimit(SoftLimitDirection.kForward, (float) ShooterConstants.TURRET_FORWARD_LIMIT);
m_boomBoomRotateMotor.setSoftLimit(SoftLimitDirection.kReverse, (float) ShooterConstants.TURRET_REVERSE_LIMIT);
setTurretSoftLimits(true);
m_boomBoomRotateMotor.setInverted(false);
m_boomBoomRotateMotor.setInverted(true);
m_boomBoomRotatePIDController.setP(m_shooterTGains.kP);
m_boomBoomRotatePIDController.setI(m_shooterTGains.kI);