Team4388/2024AcrossTheRidgebotiverse
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mirror of https://github.com/Team4388/2024AcrossTheRidgebotiverse.git synced 2026-06-08 16:28:03 -06:00
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get 2024 working

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This commit is contained in:
Shikhar
2026-04-28 17:52:23 -06:00
parent 80898f9b89
commit 58384c7d6e
7 changed files with 24 additions and 22 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+4 -4
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@@ -199,7 +199,7 @@ public class RobotContainer {
// Arm down
new Trigger(() -> !lt_down() && getDeadbandedDriverController().getXButton())
.onTrue(new InstantCommand(() -> {
m_robotMap.m_robotIntake.PIDIn();
m_robotMap.m_robotIntake.PIDOut();
m_robotMap.m_robotIntake.spinIntakeMotor();
}, m_robotMap.m_robotIntake))
.onFalse(new InstantCommand(() -> m_robotMap.m_robotIntake.stopArmMotor(), m_robotMap.m_robotIntake));
@@ -215,10 +215,10 @@ public class RobotContainer {
// Handoff / spit out
new Trigger(() -> !lt_down() && getDeadbandedDriverController().getAButton())
.onTrue(new InstantCommand(() -> {
m_robotMap.m_robotIntake.PIDIn();
m_robotMap.m_robotIntake.stopIntakeMotors();
// m_robotMap.m_robotIntake.PIDIn();
m_robotMap.m_robotIntake.handoff();
}, m_robotMap.m_robotIntake))
.onFalse(new InstantCommand(() -> m_robotMap.m_robotIntake.stopArmMotor(), m_robotMap.m_robotIntake));
.onFalse(new InstantCommand(() -> m_robotMap.m_robotIntake.stopIntakeMotors(), m_robotMap.m_robotIntake));
// Shoot
new Trigger(() -> !lt_down() && rt_down())
src/main/java/frc4388/robot/RobotMap.java
+4 -4
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@@ -73,7 +73,7 @@ public class RobotMap {
public final Intake m_robotIntake;
public final Shooter m_robotShooter;
public final Climber m_robotClimber;
// public final Climber m_robotClimber;
public RobotMap(SimConstants.Mode mode) {
@@ -87,17 +87,17 @@ public class RobotMap {
final TalonFX pivotMotor = new TalonFX(IntakeConstants.PIVOT_MOTOR_ID.id);
/* Climber Subsystem */
final TalonFX climbMotor = new TalonFX(ClimbConstants.CLIMB_MOTOR_ID.id);
// final TalonFX climbMotor = new TalonFX(ClimbConstants.CLIMB_MOTOR_ID.id);
m_robotIntake = new Intake(intakeMotor, pivotMotor);
m_robotShooter = new Shooter(leftShooter, rightShooter);
m_robotClimber = new Climber(climbMotor);
// m_robotClimber = new Climber(climbMotor);
FaultTalonFX.addDevice(leftShooter, "Left Shooter");
FaultTalonFX.addDevice(rightShooter, "Right Shooter");
FaultTalonFX.addDevice(intakeMotor, "Intake Motor");
FaultTalonFX.addDevice(pivotMotor, "Pivot Motor");
FaultTalonFX.addDevice(climbMotor, "Climb Motor");
// FaultTalonFX.addDevice(climbMotor, "Climb Motor");
switch (mode) {
src/main/java/frc4388/robot/constants/BuildConstants.java
+5 -5
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@@ -7,12 +7,12 @@ public final class BuildConstants {
public static final String MAVEN_GROUP = "";
public static final String MAVEN_NAME = "2024AcrossTheRidgebotiverse";
public static final String VERSION = "unspecified";
public static final int GIT_REVISION = 21;
public static final String GIT_SHA = "f74be4b547fafc94c234cef14666422f4c4dd8e8";
public static final String GIT_DATE = "2024-10-26 12:45:10 MDT";
public static final int GIT_REVISION = 22;
public static final String GIT_SHA = "80898f9b8989798e047c7ebbc145dd2aa7d4f12e";
public static final String GIT_DATE = "2026-04-28 16:32:28 MDT";
public static final String GIT_BRANCH = "2026-postseason-demo";
public static final String BUILD_DATE = "2026-04-28 14:57:26 MDT";
public static final long BUILD_UNIX_TIME = 1777409846756L;
public static final String BUILD_DATE = "2026-04-28 17:50:07 MDT";
public static final long BUILD_UNIX_TIME = 1777420207150L;
public static final int DIRTY = 1;
private BuildConstants(){}
src/main/java/frc4388/robot/constants/Constants.java
+1 -1
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@@ -32,7 +32,7 @@ import frc4388.utility.structs.LEDPatterns;
*/
public final class Constants {
public static final CANBus RIO_CANBUS = CANBus.roboRIO();
public static final CANBus CANIVORE_CANBUS = new CANBus("drivetrain");
// public static final CANBus CANIVORE_CANBUS = new CANBus("drivetrain");
// public static final class LiDARConstants {
// public static final int REEF_LIDAR_DIO_CHANNEL = 7;
src/main/java/frc4388/robot/constants/ShooterConstants.java
+2 -2
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@@ -6,8 +6,8 @@ public class ShooterConstants {
// public static final int LEFT_SHOOTER_ID = 15; // final
// public static final int RIGHT_SHOOTER_ID = 16; // final
public static final CanDevice LEFT_SHOOTER_ID = new CanDevice("Left Shooter Motor", 15);
public static final CanDevice RIGHT_SHOOTER_ID = new CanDevice("Right Shooter Motor", 16);
public static final CanDevice LEFT_SHOOTER_ID = new CanDevice("Left Shooter Motor", 45);
public static final CanDevice RIGHT_SHOOTER_ID = new CanDevice("Right Shooter Motor", 46);
src/main/java/frc4388/robot/subsystems/Intake.java
+3 -1
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@@ -33,7 +33,9 @@ public class Intake extends SubsystemBase {
// in init function, set slot 0 gains
var slot0Configs = new Slot0Configs();
slot0Configs.kP = 1.3; // An error of 0.5 rotations results in 12 V output
// slot0Configs.kP = 1.3; // An error of 0.5 rotations results in 12 V output
slot0Configs.kP = 0.5; // An error of 0.5 rotations results in 12 V output
slot0Configs.kI = 0.0; // no output for integrated error
slot0Configs.kD = 0.21; // A velocity of 1 rps results in 0.1 V output
src/main/java/frc4388/robot/subsystems/swerve/SwerveDriveConstants.java
+5 -5
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@@ -82,7 +82,7 @@ public final class SwerveDriveConstants {
private static final class ModuleSpecificConstants { //2025
//Front Left
private static final Angle FRONT_LEFT_ENCODER_OFFSET = Rotations.of(0);
private static final Angle FRONT_LEFT_ENCODER_OFFSET = Rotations.of(-0.364746-0.25);
private static final boolean FRONT_LEFT_DRIVE_MOTOR_INVERTED = false;
private static final boolean FRONT_LEFT_STEER_MOTOR_INVERTED = true;
private static final boolean FRONT_LEFT_ENCODER_INVERTED = false;
@@ -90,7 +90,7 @@ public final class SwerveDriveConstants {
private static final Distance FRONT_LEFT_YPOS = Inches.of(HALF_HEIGHT);
//Front Right
private static final Angle FRONT_RIGHT_ENCODER_OFFSET = Rotations.of(0);
private static final Angle FRONT_RIGHT_ENCODER_OFFSET = Rotations.of(-0.106446-0.25);
private static final boolean FRONT_RIGHT_DRIVE_MOTOR_INVERTED = true;
private static final boolean FRONT_RIGHT_STEER_MOTOR_INVERTED = true;
private static final boolean FRONT_RIGHT_ENCODER_INVERTED = false;
@@ -98,7 +98,7 @@ public final class SwerveDriveConstants {
private static final Distance FRONT_RIGHT_YPOS = Inches.of(-HALF_HEIGHT);
//Back Left
private static final Angle BACK_LEFT_ENCODER_OFFSET = Rotations.of(0);
private static final Angle BACK_LEFT_ENCODER_OFFSET = Rotations.of(-0.019287);
private static final boolean BACK_LEFT_DRIVE_MOTOR_INVERTED = false;
private static final boolean BACK_LEFT_STEER_MOTOR_INVERTED = true;
private static final boolean BACK_LEFT_ENCODER_INVERTED = false;
@@ -106,7 +106,7 @@ public final class SwerveDriveConstants {
private static final Distance BACK_LEFT_YPOS = Inches.of(HALF_HEIGHT);
//Back Right
private static final Angle BACK_RIGHT_ENCODER_OFFSET = Rotations.of(0);
private static final Angle BACK_RIGHT_ENCODER_OFFSET = Rotations.of(-0.603516-0.25);
private static final boolean BACK_RIGHT_DRIVE_MOTOR_INVERTED = false;
private static final boolean BACK_RIGHT_STEER_MOTOR_INVERTED = true;
private static final boolean BACK_RIGHT_ENCODER_INVERTED = false;
@@ -212,7 +212,7 @@ public final class SwerveDriveConstants {
}
public static final SwerveDrivetrainConstants DrivetrainConstants = new SwerveDrivetrainConstants()
.withPigeon2Id(IDs.DRIVE_PIGEON.id).withCANBusName(Constants.CANIVORE_CANBUS.getName());
.withPigeon2Id(IDs.DRIVE_PIGEON.id).withCANBusName(Constants.RIO_CANBUS.getName());
private static final SwerveModuleConstantsFactory<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> ConstantCreator =
new SwerveModuleConstantsFactory<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration>() // holy verbosity batman.