Team4388/2024AcrossTheRidgebotiverse
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Small tweakin (im tweakin)

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Abhishrek05
2024-02-14 19:44:24 -07:00
parent 3276f6fc39
commit ffaa1cd8f1
4 changed files with 7 additions and 4 deletions
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src/main/java/frc4388/robot/Constants.java
+1 -1
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@@ -164,7 +164,7 @@ public final class Constants {
public static final int INTAKE_MOTOR_ID = 18; //TODO:
public static final int PIVOT_MOTOR_ID = 17; //TODO:
public static final double INTAKE_SPEED = 0.75; //TODO:
public static final double INTAKE_OUT_SPEED = 0.7;
public static final double INTAKE_OUT_SPEED = 0.1;
public static final double HANDOFF_SPEED = 0.4; //TODO:
public static final double PIVOT_SPEED = 0.2; //TODO:
src/main/java/frc4388/robot/RobotContainer.java
+1 -1
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@@ -79,7 +79,7 @@ public class RobotContainer {
private SequentialCommandGroup intakeInToOut = new SequentialCommandGroup(
new InstantCommand(() -> m_robotIntake.rotateArmOut2(), m_robotIntake),
new RunCommand(() -> m_robotIntake.limitNote(), m_robotIntake).until(m_robotIntake.getArmFowardLimitState()),
new InstantCommand(() -> m_robotShooter.idle(), m_robotShooter)
new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter)
);
private SequentialCommandGroup i = new SequentialCommandGroup(
src/main/java/frc4388/robot/subsystems/Intake.java
+3
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@@ -6,6 +6,7 @@ package frc4388.robot.subsystems;
import java.util.function.BooleanSupplier;
import com.revrobotics.CANSparkBase;
import com.revrobotics.CANSparkMax;
import com.revrobotics.SparkLimitSwitch;
import com.revrobotics.SparkPIDController;
@@ -52,6 +53,8 @@ public class Intake extends SubsystemBase {
reverseLimit.enableLimitSwitch(true);
intakeMotor.restoreFactoryDefaults();
intakeMotor.setIdleMode(CANSparkBase.IdleMode.kCoast);
intakeforwardLimit = intakeMotor.getForwardLimitSwitch(SparkLimitSwitch.Type.kNormallyOpen);
src/main/java/frc4388/robot/subsystems/Shooter.java
+2 -2
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@@ -25,8 +25,8 @@ public class Shooter extends SubsystemBase {
leftShooter = leftTalonFX;
rightShooter = rightTalonFX;
leftShooter.setNeutralMode(NeutralModeValue.Brake);
rightShooter.setNeutralMode(NeutralModeValue.Brake);
leftShooter.setNeutralMode(NeutralModeValue.Coast);
rightShooter.setNeutralMode(NeutralModeValue.Coast);
}
public void spin() {