From 3be9938956b4cd7615cbba424e25342aa67b7e38 Mon Sep 17 00:00:00 2001 From: Shikhar Dey Date: Thu, 9 Apr 2026 09:28:35 -0600 Subject: [PATCH 1/2] Update Intake.java --- src/main/java/frc4388/robot/subsystems/intake/Intake.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc4388/robot/subsystems/intake/Intake.java b/src/main/java/frc4388/robot/subsystems/intake/Intake.java index b264ed0..9ca2602 100644 --- a/src/main/java/frc4388/robot/subsystems/intake/Intake.java +++ b/src/main/java/frc4388/robot/subsystems/intake/Intake.java @@ -75,7 +75,7 @@ public class Intake extends SubsystemBase { } public boolean intakeAtReference() { - return true;//state.extendedSoftLimit; + return state.extendedSoftLimit; } public double getRollerSpeed() { From 6d391c64f23eda9575fa748ddf7284b3180410c3 Mon Sep 17 00:00:00 2001 From: Shatcar Date: Thu, 9 Apr 2026 11:51:17 -0600 Subject: [PATCH 2/2] practice match changes --- .../autos/-- Auto Denver test.auto | 67 ------------------- .../deploy/pathplanner/paths/No Move.path | 54 +++++++++++++++ .../java/frc4388/robot/RobotContainer.java | 4 +- .../robot/constants/BuildConstants.java | 10 +-- .../subsystems/intake/IntakeConstants.java | 2 +- 5 files changed, 62 insertions(+), 75 deletions(-) delete mode 100644 src/main/deploy/pathplanner/autos/-- Auto Denver test.auto create mode 100644 src/main/deploy/pathplanner/paths/No Move.path diff --git a/src/main/deploy/pathplanner/autos/-- Auto Denver test.auto b/src/main/deploy/pathplanner/autos/-- Auto Denver test.auto deleted file mode 100644 index 57808c7..0000000 --- a/src/main/deploy/pathplanner/autos/-- Auto Denver test.auto +++ /dev/null @@ -1,67 +0,0 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "Intake Extended" - } - }, - { - "type": "wait", - "data": { - "waitTime": 1.0 - } - }, - { - "type": "named", - "data": { - "name": "Robot Rev Up" - } - }, - { - "type": "wait", - "data": { - "waitTime": 1.0 - } - }, - { - "type": "named", - "data": { - "name": "Robot Shoot" - } - }, - { - "type": "wait", - "data": { - "waitTime": 1.0 - } - }, - { - "type": "named", - "data": { - "name": "Intake Extended" - } - }, - { - "type": "wait", - "data": { - "waitTime": 1.0 - } - }, - { - "type": "named", - "data": { - "name": "Intake Retracted" - } - } - ] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/No Move.path b/src/main/deploy/pathplanner/paths/No Move.path new file mode 100644 index 0000000..2d956b3 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/No Move.path @@ -0,0 +1,54 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 2.5, + "y": 2.867 + }, + "prevControl": null, + "nextControl": { + "x": 2.7320383800418035, + "y": 2.77395060350773 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 2.5, + "y": 2.867 + }, + "prevControl": { + "x": 2.25, + "y": 2.867 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 0.1, + "maxAcceleration": 0.1, + "maxAngularVelocity": 0.1, + "maxAngularAcceleration": 0.1, + "nominalVoltage": 6.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": -144.898 + }, + "reversed": false, + "folder": null, + "idealStartingState": { + "velocity": 0, + "rotation": -144.898 + }, + "useDefaultConstraints": false +} \ No newline at end of file diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 2315403..1f7df4f 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -178,12 +178,12 @@ public class RobotContainer { // Called on first robot enable DeferredBlock.addBlock(() -> { m_robotSwerveDrive.resetGyro(); - m_robotIntake.setMode(IntakeMode.Idle); - m_robotShooter.spinUpIdle(); }, false); // Called on every robot enable DeferredBlock.addBlock(() -> { + // m_robotIntake.setMode(IntakeMode.Idle); + // m_robotShooter.spinUpIdle(); TimesNegativeOne.update(); FieldPositions.update(); m_robotIntake.io.updateGains(); diff --git a/src/main/java/frc4388/robot/constants/BuildConstants.java b/src/main/java/frc4388/robot/constants/BuildConstants.java index 9fcfbec..5ce7836 100644 --- a/src/main/java/frc4388/robot/constants/BuildConstants.java +++ b/src/main/java/frc4388/robot/constants/BuildConstants.java @@ -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 = 223; - public static final String GIT_SHA = "ecdc0bfd6f9e870efa2905e3c06d87254bfd7e39"; - public static final String GIT_DATE = "2026-04-07 22:46:24 MDT"; + public static final int GIT_REVISION = 226; + public static final String GIT_SHA = "3be9938956b4cd7615cbba424e25342aa67b7e38"; + public static final String GIT_DATE = "2026-04-09 09:28:35 MDT"; public static final String GIT_BRANCH = "New-Intake"; - public static final String BUILD_DATE = "2026-04-07 22:49:03 MDT"; - public static final long BUILD_UNIX_TIME = 1775623743749L; + public static final String BUILD_DATE = "2026-04-09 11:40:18 MDT"; + public static final long BUILD_UNIX_TIME = 1775756418116L; public static final int DIRTY = 1; private BuildConstants(){} diff --git a/src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java b/src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java index 6257450..a5bda68 100644 --- a/src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java +++ b/src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java @@ -60,7 +60,7 @@ public class IntakeConstants { public static final ConfigurableDouble ARM_EXTEND_PERCENT_OUTPUT = new ConfigurableDouble("Arm extend % output", 0.4); public static final ConfigurableDouble ARM_RETRACT_PERCENT_OUTPUT = new ConfigurableDouble("Arm retract % output", -0.2); - public static final ConfigurableDouble ARM_AUTO_OUTPUT = new ConfigurableDouble("Arm auto output", -0.1); + 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 ROLLER_PERCENT_OUTPUT = new ConfigurableDouble("Roller Percent Output", .50);