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Include Intake PIDs

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This commit is contained in:
Michael Mikovsky
2024-12-05 16:48:42 -07:00
parent f7b759df6b
commit 51276a3e97
4 changed files with 8 additions and 8 deletions
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src/main/java/frc4388/robot/Constants.java
+3 -3
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@@ -153,9 +153,9 @@ public final class Constants {
}
public static final double IN_POSITION =0.0;
public static final double OUT_POSITION =0.0;
public static final double INTAKE_SPEED= 0.0;
public static final double OUTTAKE_SPEED= 0.0;
public static final double OUT_POSITION =-50;
public static final double INTAKE_SPEED= 0.75;
public static final double OUTTAKE_SPEED= -1.0;
}
public static final class ShooterConstants
{
src/main/java/frc4388/robot/RobotContainer.java
+1 -1
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@@ -157,7 +157,7 @@ public class RobotContainer {
// ? /* Operator Buttons */
/*Intake */
DualJoystickButton(getDeadbandedDriverController(), getVirtualOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
.onTrue(new SequentialCommandGroup(
new InstantCommand(() -> m_robotIntake.PIDOut()),
new InstantCommand(() -> m_robotIntake.spinIntakeMotor())
src/main/java/frc4388/robot/subsystems/Intake.java
+2 -2
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@@ -20,9 +20,9 @@ public class Intake extends SubsystemBase{
intakeMotor.setNeutralMode(NeutralModeValue.Brake);
var PIDConfigs = new Slot0Configs();
PIDConfigs.kP = 0;
PIDConfigs.kP = 1;
PIDConfigs.kI = 0;
PIDConfigs.kD = 0;
PIDConfigs.kD = 0.25;
pivotMotor.getConfigurator().apply(PIDConfigs);
}
src/main/java/frc4388/robot/subsystems/Shooter.java
+2 -2
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@@ -23,8 +23,8 @@ public class Shooter extends SubsystemBase {
}
public void spin(double speed) {
leftShooter.set(speed);
rightShooter.set(speed);
leftShooter.set(-speed);
rightShooter.set(-speed);
}
public void spin() {