From 6012f9943973526833ddf21cb17f12914f7f5073 Mon Sep 17 00:00:00 2001 From: Ryan Date: Sun, 20 Mar 2022 21:21:45 -0600 Subject: [PATCH] fixes --- src/main/deploy/pathplanner/Move Forward.path | 2 +- src/main/java/frc4388/robot/Constants.java | 2 +- .../java/frc4388/robot/RobotContainer.java | 20 ++++++++++--------- .../robot/commands/ShooterCommands/Shoot.java | 4 ++-- 4 files changed, 15 insertions(+), 13 deletions(-) diff --git a/src/main/deploy/pathplanner/Move Forward.path b/src/main/deploy/pathplanner/Move Forward.path index 653ed78..b63994d 100644 --- a/src/main/deploy/pathplanner/Move Forward.path +++ b/src/main/deploy/pathplanner/Move Forward.path @@ -1 +1 @@ -{"waypoints":[{"anchorPoint":{"x":4.0,"y":2.0},"prevControl":null,"nextControl":{"x":4.014863901928194,"y":2.0},"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":5.0,"y":2.0},"prevControl":{"x":4.99458955727988,"y":2.0},"nextControl":{"x":4.99458955727988,"y":2.0},"holonomicAngle":0.0,"isReversal":true,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":4.0,"y":2.0},"prevControl":{"x":3.4597663280316806,"y":2.0},"nextControl":null,"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false}],"maxVelocity":1.0,"maxAcceleration":1.0,"isReversed":null} \ No newline at end of file +{"waypoints":[{"anchorPoint":{"x":3.8761638155965237,"y":2.097178183811552},"prevControl":null,"nextControl":{"x":3.891027717524718,"y":2.097178183811552},"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":4.989837747689554,"y":2.097178183811552},"prevControl":{"x":4.984427304969435,"y":2.097178183811552},"nextControl":{"x":4.984427304969435,"y":2.097178183811552},"holonomicAngle":91.52752544221289,"isReversal":true,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":3.8761638155965237,"y":2.140568077269722},"prevControl":{"x":3.3359301436282043,"y":2.140568077269722},"nextControl":null,"holonomicAngle":178.2100893917539,"isReversal":false,"velOverride":null,"isLocked":false}],"maxVelocity":1.0,"maxAcceleration":1.0,"isReversed":null} \ No newline at end of file diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index 20c9f21..650a28d 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -175,7 +175,7 @@ public final class Constants { public static final int ELBOW_ID = 31; public static final int GYRO_ID = 14; - public static final double INPUT_MULTIPLIER = 0.4; + public static final double INPUT_MULTIPLIER = 1.0; public static final double ELBOW_SOFT_LIMIT_TOLERANCE = 20000.0; public static final double SHOULDER_SOFT_LIMIT_TOLERANCE = 12000.0; diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 9e756d8..c509da2 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -267,8 +267,8 @@ public class RobotContainer { .whenPressed(new InstantCommand(() -> m_robotClaws.toggleClaws(), m_robotClaws)); // X > Toggles extender in and out - new JoystickButton(getOperatorController(), XboxController.Button.kX.value) - .whenPressed(new ExtenderIntakeGroup(m_robotIntake, m_robotExtender)); + // new JoystickButton(getOperatorController(), XboxController.Button.kX.value) + // .whenPressed(new ExtenderIntakeGroup(m_robotIntake, m_robotExtender)); // A > Spit Out Ball new JoystickButton(getOperatorController(), XboxController.Button.kA.value) @@ -276,14 +276,16 @@ public class RobotContainer { .whileHeld(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.25))); // Y > Full aim command - new JoystickButton(getOperatorController(), XboxController.Button.kY.value) - .whileHeld(new Seek(m_robotSwerveDrive, m_robotBoomBoom, m_robotTurret, m_robotHood, m_robotVisionOdometry)); - // new JoystickButton(getOperatorController(), XboxController.Button.kY.value) - // .whenPressed(new Shoot(m_robotSwerveDrive, m_robotBoomBoom, m_robotTurret, m_robotHood, m_robotVisionOdometry, false, false)); + // .whileHeld(new Seek(m_robotSwerveDrive, m_robotBoomBoom, m_robotTurret, m_robotHood, m_robotVisionOdometry)); + + + //! Test Buttons + new JoystickButton(getOperatorController(), XboxController.Button.kY.value) + .whenPressed(new Shoot(m_robotSwerveDrive, m_robotBoomBoom, m_robotTurret, m_robotHood, m_robotVisionOdometry, false, false)); - // new JoystickButton(getOperatorController(), XboxController.Button.kX.value) - // .whileHeld(new TrackTarget(m_robotSwerveDrive, m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry)); + new JoystickButton(getOperatorController(), XboxController.Button.kX.value) + .whileHeld(new TrackTarget(m_robotSwerveDrive, m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry)); // new JoystickButton(getOperatorController(), XboxController.Button.kY.value) // .whileHeld(new RunCommand(() -> m_robotClaws.setOpen(true))); @@ -423,7 +425,7 @@ public class RobotContainer { // * new SequentialCommandGroup(buildAuto(5.0, 5.0, "Path1", "Path2", "Path3")), // * new RunCommand(() -> m_robotIntake.runAtOutput(0.5)))); - return new SequentialCommandGroup(buildAuto(5.0, 5.0, "Move Forward")); // test command + return new SequentialCommandGroup(buildAuto(1.0, 1.0, new InstantCommand(() -> m_robotSwerveDrive.m_gyro.reset()), "Move Forward")); // test command } public static XboxController getDriverController() { diff --git a/src/main/java/frc4388/robot/commands/ShooterCommands/Shoot.java b/src/main/java/frc4388/robot/commands/ShooterCommands/Shoot.java index e46b6cf..7055573 100644 --- a/src/main/java/frc4388/robot/commands/ShooterCommands/Shoot.java +++ b/src/main/java/frc4388/robot/commands/ShooterCommands/Shoot.java @@ -127,8 +127,8 @@ public class Shoot extends CommandBase { timerStarted = false; startTime = 0; - this.odoX = 0.9398;//-this.swerve.getOdometry().getY(); // 3.2766 - this.odoY = -3.2766;//-this.swerve.getOdometry().getX(); // -0.9398 + this.odoX = -this.swerve.getOdometry().getY(); // 3.2766 + this.odoY = -this.swerve.getOdometry().getX(); // -0.9398 this.distance = Math.hypot(odoX, odoY);