From 3c8d581685e7488e067109b0b492a49123fddf4d Mon Sep 17 00:00:00 2001 From: Ryan Date: Tue, 22 Mar 2022 19:48:40 -0600 Subject: [PATCH] THIS WORKS CURRENTLY --- src/main/java/frc4388/robot/Robot.java | 3 --- src/main/java/frc4388/robot/RobotContainer.java | 5 +++-- .../robot/commands/ShooterCommands/TrackTarget.java | 9 ++++----- src/main/java/frc4388/robot/subsystems/Claws.java | 7 +++++-- src/main/java/frc4388/robot/subsystems/Hood.java | 2 +- 5 files changed, 13 insertions(+), 13 deletions(-) diff --git a/src/main/java/frc4388/robot/Robot.java b/src/main/java/frc4388/robot/Robot.java index 0606fd9..75a2675 100644 --- a/src/main/java/frc4388/robot/Robot.java +++ b/src/main/java/frc4388/robot/Robot.java @@ -64,9 +64,6 @@ public class Robot extends TimedRobot { LOGGER.log(Level.FINE, "Logging Test 6/8"); LOGGER.log(Level.FINER, "Logging Test 7/8"); LOGGER.log(Level.FINEST, "Logging Test 8/8"); - Errors.log().run(() -> { - throw new Throwable("Exception Test"); - }); // var path = // PathPlannerUtil.Path.read(Filesystem.getDeployDirectory().toPath().resolve("pathplanner").resolve("Move diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index e5fdb9d..d0b3b07 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -64,6 +64,7 @@ import frc4388.robot.subsystems.VisionOdometry; import frc4388.utility.PathPlannerUtil; import frc4388.utility.controller.ButtonBox; import frc4388.utility.controller.DeadbandedRawXboxController; +import frc4388.utility.controller.DeadbandedXboxController; /** * This class is where the bulk of the robot should be declared. Since @@ -96,8 +97,8 @@ public class RobotContainer { /* Autonomous */ private final PathRecorder m_pathChooser = new PathRecorder(m_robotSwerveDrive); // Controllers - private final static XboxController m_driverXbox = new DeadbandedRawXboxController(OIConstants.XBOX_DRIVER_ID); - private final static XboxController m_operatorXbox = new DeadbandedRawXboxController(OIConstants.XBOX_OPERATOR_ID); + private final static XboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID); + private final static XboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID); private final ButtonBox m_buttonBox = new ButtonBox(OIConstants.BUTTON_BOX_ID); public static boolean softLimits = true; diff --git a/src/main/java/frc4388/robot/commands/ShooterCommands/TrackTarget.java b/src/main/java/frc4388/robot/commands/ShooterCommands/TrackTarget.java index 0428899..1328475 100644 --- a/src/main/java/frc4388/robot/commands/ShooterCommands/TrackTarget.java +++ b/src/main/java/frc4388/robot/commands/ShooterCommands/TrackTarget.java @@ -79,15 +79,14 @@ public class TrackTarget extends CommandBase { velocity = 0; hoodPosition = 0; + m_visionOdometry.setDriverMode(false); + m_visionOdometry.setLEDs(true); } // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { try { - m_visionOdometry.setDriverMode(false); - m_visionOdometry.setLEDs(true); - points = m_visionOdometry.getTargetPoints(); // points = getFakePoints(); //// points = filterPoints(points); @@ -114,8 +113,8 @@ public class TrackTarget extends CommandBase { velocity = m_boomBoom.getVelocity(regressedDistance); hoodPosition = m_boomBoom.getHood(regressedDistance); - m_boomBoom.runDrumShooterVelocityPID(velocity); - m_hood.runAngleAdjustPID(hoodPosition); + m_boomBoom.runDrumShooterVelocityPID(velocity + 20); + m_hood.runAngleAdjustPID(hoodPosition + 20); double currentDrumVel = this.m_boomBoom.m_shooterFalconLeft.getSelectedSensorVelocity(); double currentHood = this.m_hood.getEncoderPosition(); diff --git a/src/main/java/frc4388/robot/subsystems/Claws.java b/src/main/java/frc4388/robot/subsystems/Claws.java index f5fcc1b..486f5a4 100644 --- a/src/main/java/frc4388/robot/subsystems/Claws.java +++ b/src/main/java/frc4388/robot/subsystems/Claws.java @@ -30,12 +30,14 @@ public class Claws extends SubsystemBase { private double m_rightOffset; private boolean m_open; + private boolean clawsOpen; public static enum ClawType {LEFT, RIGHT} public Claws(Servo leftClaw, Servo rightClaw) { m_leftClaw = leftClaw; m_rightClaw = rightClaw; m_open = false; + clawsOpen = false; } /** @@ -46,11 +48,11 @@ public class Claws extends SubsystemBase { if(open) { m_leftClaw.setRaw(ClawConstants.BOTTOM_LIMIT - 900); m_rightClaw.setRaw(ClawConstants.TOP_LIMIT + 100); - SmartDashboard.putBoolean("Claws Closed", false); + clawsOpen = false; } else { m_leftClaw.setRaw(ClawConstants.TOP_LIMIT - 400); m_rightClaw.setRaw(ClawConstants.BOTTOM_LIMIT - 400); - SmartDashboard.putBoolean("Claws Closed", true); + clawsOpen = true; } } @@ -62,5 +64,6 @@ public class Claws extends SubsystemBase { @Override public void periodic() { + SmartDashboard.putBoolean("Claws Closed", clawsOpen); } } \ No newline at end of file diff --git a/src/main/java/frc4388/robot/subsystems/Hood.java b/src/main/java/frc4388/robot/subsystems/Hood.java index 7f81242..239af21 100644 --- a/src/main/java/frc4388/robot/subsystems/Hood.java +++ b/src/main/java/frc4388/robot/subsystems/Hood.java @@ -64,7 +64,7 @@ public class Hood extends SubsystemBase { // SmartDashboard.putNumber("Hood Angle", m_angleEncoder.getPosition()); // * speed limiting near soft limits. tolerance (distance when ramping starts) is 20 rotations. speed at hard limits is 0.2 (percent output). - runVelocityRamping(); + // runVelocityRamping(); } public void runVelocityRamping() {