Team4388/2026KPopRobotHunters
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Merge branch 'shoot-button' into operator-controls

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This commit is contained in:
Michael Mikovsky
2026-02-14 13:50:55 -07:00
parent 83c92cb94a 736d7ef823
commit 13b80c6341
6 changed files with 44 additions and 20 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+3 -2
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@@ -205,9 +205,10 @@ public class RobotContainer {
new Trigger(() -> getDeadbandedDriverController().getLeftTriggerAxis() >= 0.5) new Trigger(() -> getDeadbandedDriverController().getLeftTriggerAxis() >= 0.5)
.whileTrue(new RunCommand( .whileTrue(new RunCommand(
() -> { () -> {
m_robotSwerveDrive.driveIntake( m_robotSwerveDrive.driveIntakeOrientation(
getDeadbandedDriverController().getLeft(), getDeadbandedDriverController().getLeft(),
false getDeadbandedDriverController().getRight()
); );
}, m_robotSwerveDrive)) }, m_robotSwerveDrive))
.onFalse(new InstantCommand(() -> { .onFalse(new InstantCommand(() -> {
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_GROUP = "";
public static final String MAVEN_NAME = "2026KPopRobotHunters"; public static final String MAVEN_NAME = "2026KPopRobotHunters";
public static final String VERSION = "unspecified"; public static final String VERSION = "unspecified";
public static final int GIT_REVISION = 50; public static final int GIT_REVISION = 51;
public static final String GIT_SHA = "8381ac460776aaad24a82786c9fe12e040a99d00"; public static final String GIT_SHA = "abc3dc6b144dc783d0ceac8861e847d5f5f9741d";
public static final String GIT_DATE = "2026-02-14 11:55:51 MST"; public static final String GIT_DATE = "2026-02-14 12:50:09 MST";
public static final String GIT_BRANCH = "shoot-button"; public static final String GIT_BRANCH = "shoot-button";
public static final String BUILD_DATE = "2026-02-14 12:44:39 MST"; public static final String BUILD_DATE = "2026-02-14 13:46:45 MST";
public static final long BUILD_UNIX_TIME = 1771098279734L; public static final long BUILD_UNIX_TIME = 1771102005908L;
public static final int DIRTY = 1; public static final int DIRTY = 1;
private BuildConstants(){} private BuildConstants(){}
src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java
+1 -1
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@@ -31,7 +31,7 @@ public class IntakeConstants {
// public static final Angle ARM_LIMIT_LOWER = Degrees.of(90); // public static final Angle ARM_LIMIT_LOWER = Degrees.of(90);
// public static final Angle ARM_LIMIT_UPPER = Degrees.of(-90); // public static final Angle ARM_LIMIT_UPPER = Degrees.of(-90);
public static final ConfigurableDouble ARM_LIMIT_RETRACTED = new ConfigurableDouble("Arm angle retracted", -0.3); public static final ConfigurableDouble ARM_LIMIT_RETRACTED = new ConfigurableDouble("Arm angle retracted", -0.3*0);
public static final ConfigurableDouble ARM_LIMIT_EXTENDED = new ConfigurableDouble("Arm angle extended", 0); public static final ConfigurableDouble ARM_LIMIT_EXTENDED = new ConfigurableDouble("Arm angle extended", 0);
public static final ConfigurableDouble ROLLER_ACTIVE = new ConfigurableDouble("Rolelr Active", 10); public static final ConfigurableDouble ROLLER_ACTIVE = new ConfigurableDouble("Rolelr Active", 10);
src/main/java/frc4388/robot/subsystems/shooter/Shooter.java
+6 -4
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@@ -62,7 +62,7 @@ public class Shooter extends SubsystemBase {
public void setShooterReady() { public void setShooterReady() {
// if(this.mode == ShooterMode.NotReady) { // if(this.mode == ShooterMode.NotReady) {
this.mode = ShooterMode.Ready; this.mode = ShooterMode.Shooting;
// } // }
} }
@@ -94,7 +94,8 @@ public class Shooter extends SubsystemBase {
double distanceToHub = robotPose2d.getTranslation().minus(FieldPositions.HUB_POSITION).getNorm(); double distanceToHub = robotPose2d.getTranslation().minus(FieldPositions.HUB_POSITION).getNorm();
this.mode = ShooterMode.Shooting; // this.mode = ShooterMode.Shooting;
// TODO: get if the robot is within the angle of the hub // TODO: get if the robot is within the angle of the hub
// boolean driverError = // boolean driverError =
@@ -144,7 +145,8 @@ public class Shooter extends SubsystemBase {
// ShooterMode.NotReady // ShooterMode.NotReady
// ); // );
// } }
switch (mode) { switch (mode) {
case Shooting: case Shooting:
@@ -162,4 +164,4 @@ public class Shooter extends SubsystemBase {
} }
} }
}} }
src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java
+3 -3
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@@ -24,10 +24,10 @@ public class ShooterConstants {
// public static final AngularVelocity INDEXER_ACTIVE_VELOCITY = RotationsPerSecond.of(10); // public static final AngularVelocity INDEXER_ACTIVE_VELOCITY = RotationsPerSecond.of(10);
// public static final AngularVelocity INDEXER_INACTIVE_VELOCITY = RotationsPerSecond.of(0.0); // public static final AngularVelocity INDEXER_INACTIVE_VELOCITY = RotationsPerSecond.of(0.0);
public static final ConfigurableDouble SHOOTER_ACTIVE_VELOCITY = new ConfigurableDouble("Shooter Active Velocity", 0); public static final ConfigurableDouble SHOOTER_ACTIVE_VELOCITY = new ConfigurableDouble("Shooter Active Velocity", -35);
public static final ConfigurableDouble SHOOTER_RESTING_VELOCITY = new ConfigurableDouble("Shooter Resting Velocity", 0); public static final ConfigurableDouble SHOOTER_RESTING_VELOCITY = new ConfigurableDouble("Shooter Resting Velocity", -10);
public static final ConfigurableDouble INDEXER_FORWARD_VELOCITY = new ConfigurableDouble("Indexer FWD Velocity", 10); public static final ConfigurableDouble INDEXER_FORWARD_VELOCITY = new ConfigurableDouble("Indexer FWD Velocity", -10);
public static final ConfigurableDouble INDEXER_REVERSE_VELOCITY = new ConfigurableDouble("Indexer reverse Velocity", 10); public static final ConfigurableDouble INDEXER_REVERSE_VELOCITY = new ConfigurableDouble("Indexer reverse Velocity", 10);
src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java
+26 -5
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@@ -306,12 +306,33 @@ public class SwerveDrive extends SubsystemBase implements Queryable {
Rotation2d heading = new Rotation2d(leftStick.getX(), -leftStick.getY());//.r otateBy(Rotation2d.fromDegrees(90)); Rotation2d heading = new Rotation2d(leftStick.getX(), -leftStick.getY());//.r otateBy(Rotation2d.fromDegrees(90));
// if (invertRotation){ heading = heading.rotateBy(Rotation2d.fromDegrees(270));
heading = heading.rotateBy(Rotation2d.fromDegrees(270));
// } driveFieldAngle(leftStick, heading);
}
}
public void driveIntakeOrientation(Translation2d leftStick, Translation2d rightStick){
// if (invert){
// Translation2d stick = new Translation2d(-leftStick.getX(), -leftStick.getY());
// driveFieldAngle(stick, heading);
// } else{
// driveFieldAngle(leftStick, heading);
// }
double speed = rightStick.getNorm();
if(speed < 0.3) {
driveWithInput(leftStick, new Translation2d(), true);
} else {
Rotation2d heading = new Rotation2d(rightStick.getX(), rightStick.getY());//.r otateBy(Rotation2d.fromDegrees(90));
heading = heading.rotateBy(Rotation2d.fromDegrees(90));
rotTarget = heading.getDegrees();
// Only drive forward in robot direction (no strafe)
// Translation2d forwardOnly = new Translation2d(speed, 0.0);
driveFieldAngle(leftStick, heading); driveFieldAngle(leftStick, heading);
} }
} }