Team4388/2026KPopRobotHunters
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Autos testing

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This commit is contained in:
Shikhar
2026-02-28 12:57:00 -07:00
parent 86387f5f08
commit 2b178fae28
12 changed files with 52 additions and 45 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+8 -1
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@@ -129,12 +129,18 @@ public class RobotContainer {
new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.Retracted), m_robotIntake)
);
private Command RobotRollerOff = new SequentialCommandGroup(
new InstantCommand(() -> m_robotIntake.rollerStop(), m_robotIntake)
);
private Command RobotShoot = new SequentialCommandGroup(
// TEST NEW AUTO ALIGN
//new AutoAlign(m_robotSwerveDrive, m_vision, new Pose2d(FieldPositions.HUB_POSITION, new Rotation2d(0)), false),
new WaitUntilCommand(m_robotShooter::isShooterUpToSpeed),
new InstantCommand(()-> m_robotShooter.allowShooting(), m_robotShooter),
new WaitCommand(5),
new WaitCommand(3),
RobotIntakeRetracted,
new WaitCommand(2),
new InstantCommand(() -> m_robotShooter.denyShooting(), m_robotShooter),
new InstantCommand(()->m_robotShooter.spinUpIdle(), m_robotShooter)
);
@@ -161,6 +167,7 @@ public class RobotContainer {
NamedCommands.registerCommand("Robot Rev Up", RobotRev);
NamedCommands.registerCommand("Robot Intake Retracted", RobotIntakeRetracted);
NamedCommands.registerCommand("Robot Shoot", RobotShoot);
NamedCommands.registerCommand("Robot Roller Off", RobotRollerOff);
// NamedCommands.registerCommand("Lidar Intake", LidarIntake);
NamedCommands.registerCommand("Intake Extended", IntakeExtended);
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 = "2026KPopRobotHunters";
public static final String VERSION = "unspecified";
public static final int GIT_REVISION = 122;
public static final String GIT_SHA = "249751108410352b9e80c7a12316efaca273ae7a";
public static final String GIT_DATE = "2026-02-28 10:45:49 MST";
public static final int GIT_REVISION = 125;
public static final String GIT_SHA = "86387f5f088f59fbb43dc22ef0253b87c70ff574";
public static final String GIT_DATE = "2026-02-28 12:07:15 MST";
public static final String GIT_BRANCH = "shikhar-op-controls";
public static final String BUILD_DATE = "2026-02-28 11:14:49 MST";
public static final long BUILD_UNIX_TIME = 1772302489449L;
public static final String BUILD_DATE = "2026-02-28 12:48:24 MST";
public static final long BUILD_UNIX_TIME = 1772308104087L;
public static final int DIRTY = 1;
private BuildConstants(){}
src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java
+3 -3
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@@ -45,15 +45,15 @@ public class IntakeConstants {
public static final Slot0Configs ARM_PID = new Slot0Configs()
.withKP(0.03)
.withKP(0.08)
.withKI(0.0)
.withKD(0.0);
.withKD(0.06);
public static ConfigurableDouble arm_kP = new ConfigurableDouble("ARM KP", 0.08);
public static ConfigurableDouble arm_kI = new ConfigurableDouble("ARM KI", 0);
public static ConfigurableDouble arm_kD = new ConfigurableDouble("ARM KD", 0.1);
public static ConfigurableDouble arm_kD = new ConfigurableDouble("ARM KD", 0.06);