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Intake FIx

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This commit is contained in:
Shikhar
2026-04-10 12:17:40 -06:00
parent 3d28ae4798
commit 988c3bf88b
5 changed files with 11 additions and 10 deletions
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src/main/deploy/pathplanner/autos/X. RightTrench-Neutral-Trench-Shoot-PlayerStation-Shoot.auto
+3 -3
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@@ -45,7 +45,7 @@
{ {
"type": "wait", "type": "wait",
"data": { "data": {
"waitTime": 4.2 "waitTime": 4.5
} }
}, },
{ {
@@ -63,7 +63,7 @@
{ {
"type": "named", "type": "named",
"data": { "data": {
"name": "Robot Shoot" "name": "Robot Half Shot"
} }
} }
] ]
@@ -87,7 +87,7 @@
{ {
"type": "wait", "type": "wait",
"data": { "data": {
"waitTime": 1.5 "waitTime": 1.25
} }
}, },
{ {
src/main/deploy/pathplanner/paths/PlayerStation-Shoot.path
+2 -2
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@@ -59,7 +59,7 @@
"maxAngularVelocity": 600.0, "maxAngularVelocity": 600.0,
"maxAngularAcceleration": 750.0, "maxAngularAcceleration": 750.0,
"nominalVoltage": 12.0, "nominalVoltage": 12.0,
"unlimited": false "unlimited": true
}, },
"goalEndState": { "goalEndState": {
"velocity": 0.0, "velocity": 0.0,
@@ -71,5 +71,5 @@
"velocity": 0.0, "velocity": 0.0,
"rotation": -90.0 "rotation": -90.0
}, },
"useDefaultConstraints": true "useDefaultConstraints": false
} }
src/main/deploy/pathplanner/paths/ShotRightT-PlayerStation.path
+1 -1
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@@ -79,7 +79,7 @@
"maxAngularVelocity": 600.0, "maxAngularVelocity": 600.0,
"maxAngularAcceleration": 750.0, "maxAngularAcceleration": 750.0,
"nominalVoltage": 12.0, "nominalVoltage": 12.0,
"unlimited": false "unlimited": true
}, },
"goalEndState": { "goalEndState": {
"velocity": 0, "velocity": 0,
src/main/java/frc4388/robot/RobotContainer.java
+1
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@@ -161,6 +161,7 @@ public class RobotContainer {
new WaitUntilCommand(m_robotShooter::isShooterUpToSpeed), new WaitUntilCommand(m_robotShooter::isShooterUpToSpeed),
new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.Idle), m_robotIntake), new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.Idle), m_robotIntake),
new InstantCommand(()-> m_robotShooter.allowShooting(), m_robotShooter), new InstantCommand(()-> m_robotShooter.allowShooting(), m_robotShooter),
IntakeRetracted,
new WaitCommand(2.0), new WaitCommand(2.0),
new InstantCommand(() -> m_robotShooter.denyShooting(), m_robotShooter), new InstantCommand(() -> m_robotShooter.denyShooting(), m_robotShooter),
new InstantCommand(()->m_robotShooter.spinUpIdle(), m_robotShooter) new InstantCommand(()->m_robotShooter.spinUpIdle(), m_robotShooter)
src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java
+4 -4
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@@ -35,7 +35,7 @@ public class IntakeConstants {
//squeeze constants //squeeze constants
// public static final ConfigurableDouble INTAKE_SQUEEZE_CURRENT_LOWER_THRESHOLD = new ConfigurableDouble("Intake Squeeze Current LOWER THRESHOLD", 20); // public static final ConfigurableDouble INTAKE_SQUEEZE_CURRENT_LOWER_THRESHOLD = new ConfigurableDouble("Intake Squeeze Current LOWER THRESHOLD", 20);
// public static final ConfigurableDouble INTAKE_SQUEEZE_CURRENT_UPPER_THRESHOLD = new ConfigurableDouble("Intake Squeeze Current UPPER THRESHOLD", 25); // public static final ConfigurableDouble INTAKE_SQUEEZE_CURRENT_UPPER_THRESHOLD = new ConfigurableDouble("Intake Squeeze Current UPPER THRESHOLD", 25);
public static final ConfigurableDouble ARM_SQUEEZE_PERCENT_OUTPUT = new ConfigurableDouble("Arm squeeze % output", -0.2); public static final ConfigurableDouble ARM_SQUEEZE_PERCENT_OUTPUT = new ConfigurableDouble("Arm squeeze % output", -0.15);
public static final ConfigurableDouble ARM_REDUCED_SQUEEZE_PERCENT_OUTPUT = new ConfigurableDouble("Arm reduce squeeze % output", 0.02); public static final ConfigurableDouble ARM_REDUCED_SQUEEZE_PERCENT_OUTPUT = new ConfigurableDouble("Arm reduce squeeze % output", 0.02);
@@ -56,9 +56,9 @@ public class IntakeConstants {
// 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.); public static final ConfigurableDouble ARM_LIMIT_RETRACTED = new ConfigurableDouble("Arm angle retracted", 0.);
public static final ConfigurableDouble ARM_LIMIT_EXTENDED = new ConfigurableDouble("Arm angle extended", 1.8); //new soft limt public static final ConfigurableDouble ARM_LIMIT_EXTENDED = new ConfigurableDouble("Arm angle extended", 1.625); //new soft limt
public static final ConfigurableDouble ARM_EXTEND_PERCENT_OUTPUT = new ConfigurableDouble("Arm extend % output", 0.5); public static final ConfigurableDouble ARM_EXTEND_PERCENT_OUTPUT = new ConfigurableDouble("Arm extend % output", 0.3);
public static final ConfigurableDouble ARM_RETRACT_PERCENT_OUTPUT = new ConfigurableDouble("Arm retract % output", -0.2); public static final ConfigurableDouble ARM_RETRACT_PERCENT_OUTPUT = new ConfigurableDouble("Arm retract % output", -0.15);
public static final ConfigurableDouble ARM_AUTO_OUTPUT = new ConfigurableDouble("Arm auto output", -0.07); public static final ConfigurableDouble ARM_AUTO_OUTPUT = new ConfigurableDouble("Arm auto output", -0.07);
public static final ConfigurableDouble ARM_REVERSE_ROLLER_RANGE = new ConfigurableDouble("Arm reverse roller range", 1.17); public static final ConfigurableDouble ARM_REVERSE_ROLLER_RANGE = new ConfigurableDouble("Arm reverse roller range", 1.17);