Team4388/2026KPopRobotHunters
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This commit is contained in:
Shikhar
2026-02-23 17:33:25 -07:00
parent ff0cff819c
commit 168b6f9643
8 changed files with 70 additions and 133 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+9 -2
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@@ -100,6 +100,14 @@ public class RobotContainer {
private Command RobotShoot = new SequentialCommandGroup(
new InstantCommand(() -> m_robotShooter.setShooterReady()),
new RunCommand(
() -> {
m_robotSwerveDrive.driveFacingPosition(
getDeadbandedDriverController().getLeft(),
FieldPositions.HUB_POSITION,
ShooterConstants.AIM_LEAD_TIME.get()
);
}, m_robotSwerveDrive),
new InstantCommand(()->m_robotIntake.setMode(IntakeMode.Idle)),
new WaitCommand(5),
new InstantCommand(()->m_robotShooter.setShooterShoot()),
@@ -262,8 +270,7 @@ public class RobotContainer {
m_robotShooter.setShooterReadyFeeder();
}));
new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON)
src/main/java/frc4388/robot/constants/BuildConstants.java
+5 -5
View File
@@ -7,12 +7,12 @@ public final class BuildConstants {
public static final String MAVEN_GROUP = "";
public static final String MAVEN_NAME = "2026KPopRobotHunters";
public static final String VERSION = "unspecified";
public static final int GIT_REVISION = 75;
public static final String GIT_SHA = "4907e0c8a0fc7dade91b2075d70a2b38213f9cab";
public static final String GIT_DATE = "2026-02-21 15:08:32 MST";
public static final int GIT_REVISION = 79;
public static final String GIT_SHA = "ff0cff819cc7280a353d7ce86999efe16661f33b";
public static final String GIT_DATE = "2026-02-23 16:58:14 MST";
public static final String GIT_BRANCH = "operator-controls";
public static final String BUILD_DATE = "2026-02-21 15:52:02 MST";
public static final long BUILD_UNIX_TIME = 1771714322479L;
public static final String BUILD_DATE = "2026-02-23 17:28:16 MST";
public static final long BUILD_UNIX_TIME = 1771892896573L;
public static final int DIRTY = 1;
private BuildConstants(){}
src/main/java/frc4388/robot/constants/Constants.java
+1 -1
View File
@@ -119,7 +119,7 @@ public final class Constants {
public static final LEDPatterns OPREADY_FEED = LEDPatterns.SOLID_BLUE;
public static final LEDPatterns OPREADY_FEED_BADPHYS = LEDPatterns.BLUE_STROBE;
// public static final LEDPatterns OPREADY_FEED_BADPHYS = LEDPatterns.BLUE_STROBE;
}
public static final class OIConstants {
src/main/java/frc4388/robot/subsystems/shooter/Shooter.java
+24 -10
View File
@@ -126,8 +126,11 @@ public class Shooter extends SubsystemBase {
boolean badShooterVelocity = Math.abs(shooterSpeed - shooterSpeedTarget) > ShooterConstants.SHOOTER_SPEED_TOLERANCE.get();
// boolean intakeBad = m_Intake.getMode() == IntxakeMode.Extended;
boolean feedMdoe = this.mode == ShooterMode.ReadyFeeder |
this.mode == ShooterMode.ShootingFeeder;
int bitmask = (driverError ? 1 : 0) + (badShooterVelocity ? 2 : 0) + (this.mode == ShooterMode.ReadyFeeder ? 4 : 0);
int bitmask = (driverError ? 1 : 0) + (badShooterVelocity ? 2 : 0) + (
(feedMdoe) ? 4 : 0);
switch (bitmask) {
case 0b000: // No Errors
m_robotLED.setMode(Constants.LEDConstants.OPREADY);
@@ -147,19 +150,30 @@ public class Shooter extends SubsystemBase {
break;
case 0b100:
m_robotLED.setMode(Constants.LEDConstants.OPREADY_FEED);
break;
case 0b101:
m_robotLED.setMode(Constants.LEDConstants.OPREADY_FEED_BADPHYS);
m_robotLED.setMode(Constants.LEDConstants.OPREADY_FEED);
break;
}
// // We set the shooter mode to ready if there are no errors
mode = (
bitmask == 0 ?
ShooterMode.Shooting :
ShooterMode.Ready
);
if (!feedMdoe) {
mode = (
bitmask == 0 ?
ShooterMode.Shooting :
ShooterMode.Ready
);
} else {
if(bitmask == 0b100 |
bitmask == 0b101) {
mode = ShooterMode.ShootingFeeder;
} else {
mode = ShooterMode.ReadyFeeder;
}
}
} else {
m_robotLED.setMode(Constants.LEDConstants.DEFAULT_PATTERN);
@@ -196,7 +210,7 @@ public class Shooter extends SubsystemBase {
break;
case ReadyFeeder:
io.setShooterVelocity(state, ShooterConstants.getTargetShooterSpeed(distanceToHub));
io.setShooterVelocity(state, RotationsPerSecond.of(ShooterConstants.SHOOTER_FEED_VELOCITY.get()));
io.setIndexerOutput(state, ShooterConstants.INDEXER_REVERSE_OUTPUT.get());
break;