From 3b5ff2a25210a635fee044ef97780011cdee501e Mon Sep 17 00:00:00 2001 From: SHikhar Date: Fri, 27 Feb 2026 20:02:12 -0700 Subject: [PATCH] speed in auto check fo rspeed in auto --- .../java/frc4388/robot/RobotContainer.java | 29 +++++++++---------- .../robot/constants/BuildConstants.java | 12 ++++---- .../robot/subsystems/shooter/Shooter.java | 11 ++++++- 3 files changed, 30 insertions(+), 22 deletions(-) diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index d520cfe..7add360 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -26,6 +26,7 @@ import edu.wpi.first.wpilibj2.command.InstantCommand; import edu.wpi.first.wpilibj2.command.RunCommand; import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; import edu.wpi.first.wpilibj2.command.WaitCommand; +import edu.wpi.first.wpilibj2.command.WaitUntilCommand; import edu.wpi.first.wpilibj2.command.button.JoystickButton; import edu.wpi.first.wpilibj2.command.button.Trigger; import frc4388.robot.commands.alignment.AutoAlign; @@ -95,7 +96,7 @@ public class RobotContainer { private Command autoCommand; - private Command RobotIntakeDown = new SequentialCommandGroup( + private Command RobotIntakeExtended = new SequentialCommandGroup( new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.Extended), m_robotIntake) ); @@ -118,25 +119,24 @@ public class RobotContainer { // // .andThen(new InstantCommand(() -> m_robotSwerveDrive.softStop(), m_robotSwerveDrive)) // ); - private Command RobotReadyToShoot = new SequentialCommandGroup( - new InstantCommand(()-> m_robotIntake.setMode(IntakeMode.Idle), m_robotIntake), - new InstantCommand(() -> m_robotShooter.spinUpShooting(), m_robotShooter) + private Command RobotRev = new SequentialCommandGroup( + new InstantCommand(() -> m_robotShooter.spinUpShooting(), m_robotShooter), + new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.Extended), m_robotIntake), + new InstantCommand(() -> m_robotIntake.rollerStop(), m_robotIntake) ); - private Command IntakeRetracted = new SequentialCommandGroup( + private Command RobotIntakeRetracted = new SequentialCommandGroup( new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.Retracted), 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 InstantCommand(()-> m_robotShooter.spinUpShooting(), m_robotShooter), + new WaitUntilCommand(m_robotShooter::isShooterUpToSpeed), new InstantCommand(()-> m_robotShooter.allowShooting(), m_robotShooter), - new WaitCommand(2), - IntakeRetracted, - new WaitCommand(3), - new InstantCommand(()->m_robotShooter.spinUpIdle(), m_robotShooter), - new InstantCommand(() -> m_robotShooter.denyShooting(), m_robotShooter) + new WaitCommand(5), + new InstantCommand(() -> m_robotShooter.denyShooting(), m_robotShooter), + new InstantCommand(()->m_robotShooter.spinUpIdle(), m_robotShooter) ); @@ -158,12 +158,11 @@ public class RobotContainer { m_robotShooter.io.updateGains(); }, true); - NamedCommands.registerCommand("Robot Rev Up", RobotReadyToShoot); - NamedCommands.registerCommand("Intake Retracted", IntakeRetracted); + NamedCommands.registerCommand("Robot Rev Up", RobotRev); + NamedCommands.registerCommand("Robot Intake Retracted", RobotIntakeRetracted); NamedCommands.registerCommand("Robot Shoot", RobotShoot); // NamedCommands.registerCommand("Lidar Intake", LidarIntake); - NamedCommands.registerCommand("Robot Intake Down", RobotIntakeDown); - + NamedCommands.registerCommand("Robot Intake Extended", RobotIntakeExtended); DriverStation.silenceJoystickConnectionWarning(true); diff --git a/src/main/java/frc4388/robot/constants/BuildConstants.java b/src/main/java/frc4388/robot/constants/BuildConstants.java index 2d89a02..99a4144 100644 --- a/src/main/java/frc4388/robot/constants/BuildConstants.java +++ b/src/main/java/frc4388/robot/constants/BuildConstants.java @@ -5,14 +5,14 @@ package frc4388.robot.constants; */ public final class BuildConstants { public static final String MAVEN_GROUP = ""; - public static final String MAVEN_NAME = "2026KPopRobotHunters-new"; + public static final String MAVEN_NAME = "2026KPopRobotHunters"; public static final String VERSION = "unspecified"; - public static final int GIT_REVISION = 85; - public static final String GIT_SHA = "3d22607e5a8805f6bafa42d0e8ae41a719741842"; - public static final String GIT_DATE = "2026-02-25 16:33:01 MST"; + public static final int GIT_REVISION = 112; + public static final String GIT_SHA = "e299d3bd0a4dda5addf954455b0628b150cf6d35"; + public static final String GIT_DATE = "2026-02-27 18:44:44 MST"; public static final String GIT_BRANCH = "shikhar-op-controls"; - public static final String BUILD_DATE = "2026-02-25 17:33:10 MST"; - public static final long BUILD_UNIX_TIME = 1772065990668L; + public static final String BUILD_DATE = "2026-02-27 20:01:01 MST"; + public static final long BUILD_UNIX_TIME = 1772247661187L; public static final int DIRTY = 1; private BuildConstants(){} diff --git a/src/main/java/frc4388/robot/subsystems/shooter/Shooter.java b/src/main/java/frc4388/robot/subsystems/shooter/Shooter.java index a580a84..25e6ec3 100644 --- a/src/main/java/frc4388/robot/subsystems/shooter/Shooter.java +++ b/src/main/java/frc4388/robot/subsystems/shooter/Shooter.java @@ -29,6 +29,7 @@ public class Shooter extends SubsystemBase { // Supplier m_swervePoseSupplier; + public boolean badShooterVelocity; public Shooter( @@ -75,6 +76,7 @@ public class Shooter extends SubsystemBase { } + public void allowShooting() { shooterButtonReady = true; } @@ -89,6 +91,12 @@ public class Shooter extends SubsystemBase { return mode; } + @AutoLogOutput + public boolean isShooterUpToSpeed() { + return !badShooterVelocity; + } + + @Override public void periodic() { @@ -132,7 +140,8 @@ public class Shooter extends SubsystemBase { double shooterSpeed = Math.abs(state.motor1Velocity.in(RotationsPerSecond) + state.motor2Velocity.in(RotationsPerSecond)) / 2; double shooterSpeedTarget = Math.abs(state.motor1TargetVelocity.in(RotationsPerSecond) + state.motor2TargetVelocity.in(RotationsPerSecond)) / 2; - boolean badShooterVelocity = Math.abs(shooterSpeed - shooterSpeedTarget) > ShooterConstants.SHOOTER_SPEED_TOLERANCE.get(); + badShooterVelocity = Math.abs(shooterSpeed - shooterSpeedTarget) > ShooterConstants.SHOOTER_SPEED_TOLERANCE.get(); + switch (mode) { case Shooting: