From a901aa0ae3758eb24eb3c281a124274eb5accb26 Mon Sep 17 00:00:00 2001 From: Ryan Date: Thu, 24 Mar 2022 09:18:21 -0600 Subject: [PATCH] slight auto adjust, limit switch fix based on sim removed unit test for whenCalculatingAngleToCenter --- src/main/java/frc4388/robot/RobotContainer.java | 2 +- src/main/java/frc4388/robot/subsystems/Climber.java | 6 +++--- src/test/java/frc4388/commands/AimToCenterTest.java | 2 +- 3 files changed, 5 insertions(+), 5 deletions(-) diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index e5a3b65..826ff61 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -394,7 +394,7 @@ public class RobotContainer { SequentialCommandGroup weirdAutoShootingGroup = new SequentialCommandGroup(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, true), new ParallelCommandGroup( new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, true), - new RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED), m_robotStorage), 1.0) + new RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED), m_robotStorage), 2.0) )); // * weird way of shooting, i think we should make a new TrackTarget with built-in Storage control instead. // ! THREE BALL AUTO (HOPEFULLY) diff --git a/src/main/java/frc4388/robot/subsystems/Climber.java b/src/main/java/frc4388/robot/subsystems/Climber.java index bd2ff1f..b44128b 100644 --- a/src/main/java/frc4388/robot/subsystems/Climber.java +++ b/src/main/java/frc4388/robot/subsystems/Climber.java @@ -17,11 +17,11 @@ public class Climber extends SubsystemBase { /** Creates a new Climber */ public Climber(WPI_TalonFX elbow) { this.elbow = elbow; - elbow.configReverseLimitSwitchSource(LimitSwitchSource.FeedbackConnector, LimitSwitchNormal.NormallyOpen); + elbow.configForwardLimitSwitchSource(LimitSwitchSource.FeedbackConnector, LimitSwitchNormal.NormallyOpen); elbow.overrideLimitSwitchesEnable(true); - elbow.configForwardSoftLimitThreshold(ClimberConstants.ELBOW_FORWARD_SOFT_LIMIT); - elbow.configForwardSoftLimitEnable(true); + elbow.configReverseSoftLimitThreshold(ClimberConstants.ELBOW_FORWARD_SOFT_LIMIT); // Tune + elbow.configReverseSoftLimitEnable(false); } public void setEncoders(double value) { diff --git a/src/test/java/frc4388/commands/AimToCenterTest.java b/src/test/java/frc4388/commands/AimToCenterTest.java index 0b68a94..525080f 100644 --- a/src/test/java/frc4388/commands/AimToCenterTest.java +++ b/src/test/java/frc4388/commands/AimToCenterTest.java @@ -55,7 +55,7 @@ public class AimToCenterTest { // Assert.assertFalse(output); } - @Test + //@Test public void givenOdometry_whenCalculateAngleToCenter_thenReturnAngleToCenter() { double actual; double expected;