From f9fe463005eb4c6b6c7f0edfa796e86341284a9d Mon Sep 17 00:00:00 2001 From: Shikhar Date: Fri, 10 Apr 2026 13:09:52 -0600 Subject: [PATCH] Reapply "Intake FIx" This reverts commit 5797032aeb52ba8ba066c63588f0ad62020fb52e. --- ...htTrench-Neutral-Trench-Shoot-PlayerStation-Shoot.auto | 6 +++--- .../deploy/pathplanner/paths/PlayerStation-Shoot.path | 4 ++-- .../pathplanner/paths/ShotRightT-PlayerStation.path | 2 +- src/main/java/frc4388/robot/RobotContainer.java | 1 + .../frc4388/robot/subsystems/intake/IntakeConstants.java | 8 ++++---- 5 files changed, 11 insertions(+), 10 deletions(-) diff --git a/src/main/deploy/pathplanner/autos/X. RightTrench-Neutral-Trench-Shoot-PlayerStation-Shoot.auto b/src/main/deploy/pathplanner/autos/X. RightTrench-Neutral-Trench-Shoot-PlayerStation-Shoot.auto index fa90226..b98ddd5 100644 --- a/src/main/deploy/pathplanner/autos/X. RightTrench-Neutral-Trench-Shoot-PlayerStation-Shoot.auto +++ b/src/main/deploy/pathplanner/autos/X. RightTrench-Neutral-Trench-Shoot-PlayerStation-Shoot.auto @@ -45,7 +45,7 @@ { "type": "wait", "data": { - "waitTime": 4.2 + "waitTime": 4.5 } }, { @@ -63,7 +63,7 @@ { "type": "named", "data": { - "name": "Robot Shoot" + "name": "Robot Half Shot" } } ] @@ -87,7 +87,7 @@ { "type": "wait", "data": { - "waitTime": 1.5 + "waitTime": 1.25 } }, { diff --git a/src/main/deploy/pathplanner/paths/PlayerStation-Shoot.path b/src/main/deploy/pathplanner/paths/PlayerStation-Shoot.path index f3f2e7c..8980cf5 100644 --- a/src/main/deploy/pathplanner/paths/PlayerStation-Shoot.path +++ b/src/main/deploy/pathplanner/paths/PlayerStation-Shoot.path @@ -59,7 +59,7 @@ "maxAngularVelocity": 600.0, "maxAngularAcceleration": 750.0, "nominalVoltage": 12.0, - "unlimited": false + "unlimited": true }, "goalEndState": { "velocity": 0.0, @@ -71,5 +71,5 @@ "velocity": 0.0, "rotation": -90.0 }, - "useDefaultConstraints": true + "useDefaultConstraints": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/ShotRightT-PlayerStation.path b/src/main/deploy/pathplanner/paths/ShotRightT-PlayerStation.path index d901b4f..658b854 100644 --- a/src/main/deploy/pathplanner/paths/ShotRightT-PlayerStation.path +++ b/src/main/deploy/pathplanner/paths/ShotRightT-PlayerStation.path @@ -79,7 +79,7 @@ "maxAngularVelocity": 600.0, "maxAngularAcceleration": 750.0, "nominalVoltage": 12.0, - "unlimited": false + "unlimited": true }, "goalEndState": { "velocity": 0, diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 59fb5d9..026d57a 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -161,6 +161,7 @@ public class RobotContainer { new WaitUntilCommand(m_robotShooter::isShooterUpToSpeed), new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.Idle), m_robotIntake), new InstantCommand(()-> m_robotShooter.allowShooting(), m_robotShooter), + IntakeRetracted, new WaitCommand(2.0), new InstantCommand(() -> m_robotShooter.denyShooting(), m_robotShooter), new InstantCommand(()->m_robotShooter.spinUpIdle(), m_robotShooter) diff --git a/src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java b/src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java index e884d92..7803625 100644 --- a/src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java +++ b/src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java @@ -35,7 +35,7 @@ public class IntakeConstants { //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_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); @@ -56,9 +56,9 @@ public class IntakeConstants { // 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_EXTENDED = new ConfigurableDouble("Arm angle extended", 1.8); //new soft limt - public static final ConfigurableDouble ARM_EXTEND_PERCENT_OUTPUT = new ConfigurableDouble("Arm extend % output", 0.5); - public static final ConfigurableDouble ARM_RETRACT_PERCENT_OUTPUT = new ConfigurableDouble("Arm retract % output", -0.2); + 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", 0.3); + 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_REVERSE_ROLLER_RANGE = new ConfigurableDouble("Arm reverse roller range", 1.17);