Team4388/2026KPopRobotHunters
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speed in auto

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check fo rspeed in auto
This commit is contained in:
SHikhar
2026-02-27 20:02:12 -07:00
parent e299d3bd0a
commit 3b5ff2a252
3 changed files with 30 additions and 22 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+14 -15
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@@ -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);
src/main/java/frc4388/robot/constants/BuildConstants.java
+6 -6
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@@ -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(){}
src/main/java/frc4388/robot/subsystems/shooter/Shooter.java
+10 -1
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@@ -29,6 +29,7 @@ public class Shooter extends SubsystemBase {
// Supplier<Pose2d> 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: