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Ryan
2022-03-20 21:21:45 -06:00
parent e1668da5fd
commit 6012f99439
4 changed files with 15 additions and 13 deletions
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src/main/java/frc4388/robot/Constants.java
+1 -1
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@@ -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;
src/main/java/frc4388/robot/RobotContainer.java
+11 -9
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@@ -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() {
src/main/java/frc4388/robot/commands/ShooterCommands/Shoot.java
+2 -2
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@@ -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);