Merge branch 'master-updates' into buckmeister's-wacky-code-changes

src/main/java/frc4388/robot/RobotContainer.java

@@ -93,7 +93,7 @@ public class RobotContainer {
         /* Passing Drive and Pneumatics Subsystems */
         m_robotPneumatics.passRequiredSubsystem(m_robotDrive);
         m_robotDrive.passRequiredSubsystem(m_robotPneumatics);
-        
+
         m_robotShooter.passRequiredSubsystem(m_robotShooterHood, m_robotShooterAim);
         m_robotShooterHood.passRequiredSubsystem(m_robotShooter);
         m_robotShooterAim.passRequiredSubsystem(m_robotShooter);
@@ -102,10 +102,10 @@ public class RobotContainer {
 
         /* Default Commands */
         // drives the robot with a two-axis input from the driver controller
-        
+
         m_robotDrive.setDefaultCommand(new DriveWithJoystick(m_robotDrive, m_robotPneumatics, getDriverController()));
         //m_robotDrive.setDefaultCommand(new DriveWithJoystickUsingDeadAssistPID(m_robotDrive, m_robotPneumatics, getDriverController()));
-        
+
         // drives intake with input from triggers on the opperator controller
         m_robotIntake.setDefaultCommand(new RunIntakeWithTriggers(m_robotIntake, getOperatorController()));
         // runs the turret with joystick
@@ -134,7 +134,7 @@ public class RobotContainer {
         // A driver test button
         new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
             .whenPressed(new DriveStraightToPositionMM(m_robotDrive, m_robotPneumatics, 24.0));
-        
+
         // B driver test button
         new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON)
             .whenPressed(new TurnDegrees(m_robotDrive, 90));
@@ -146,7 +146,7 @@ public class RobotContainer {
         // X driver test button
         new JoystickButton(getDriverJoystick(), XboxController.X_BUTTON)
             .whenPressed(new InstantCommand());
-      
+
 
 
         /* Driver Buttons */
@@ -201,12 +201,12 @@ public class RobotContainer {
         //Calibrates turret and hood
         new JoystickButton(getOperatorJoystick(), XboxController.START_BUTTON)
             .whileHeld(new CalibrateShooter(m_robotShooter, m_robotShooterAim, m_robotShooterHood));
-        
+
         //Prepares storage for intaking
         new XboxTriggerButton(m_operatorXbox, XboxTriggerButton.LEFT_TRIGGER)
             .whileHeld(new RunCommand(() -> m_robotStorage.runStorage(-0.8)))
             .whenReleased(new RunCommand(() -> m_robotStorage.runStorage(0.0)));
-            
+
         //Runs storage to outtake
         new XboxTriggerButton(m_operatorXbox, XboxTriggerButton.RIGHT_TRIGGER)
             .whileHeld(new RunCommand(() -> m_robotStorage.runStorage(0.8)))
@@ -257,7 +257,7 @@ public class RobotContainer {
             config);
             // 10 = 20, 20 = 35, 30 = 53.5
             // (0,10) = (8,22)
-        
+
         return exampleTrajectory;
     }
 
@@ -265,11 +265,11 @@ public class RobotContainer {
         RamseteCommand ramseteCommand = new RamseteCommand(
             trajectory,
             m_robotDrive::getPose,
-            new RamseteController(), 
+            new RamseteController(),
             DriveConstants.kDriveKinematics,
             m_robotDrive::tankDriveVelocity,
             m_robotDrive);
-        
+
         return ramseteCommand;
     }
 
@@ -290,7 +290,7 @@ public class RobotContainer {
     }
 
     /**
-     * 
+     *
      */
     public void resetOdometry() {
         m_robotDrive.resetGyroAngles();
@@ -304,7 +304,7 @@ public class RobotContainer {
     public IHandController getDriverController() {
         return m_driverXbox;
     }
-    
+
     /**
      * Used for analog inputs like triggers and axises.
      * @return The IHandController interface for the Operator Controller.
@@ -313,7 +313,7 @@ public class RobotContainer {
     {
         return m_operatorXbox;
     }
-    
+
     /**
      * Gets the {@link edu.wpi.first.wpilibj.GenericHID#GenericHID(int) Generic HID} for the Operator Xbox Controller.
      * Generic HIDs/Joysticks can be used to set up JoystickButtons.
@@ -323,7 +323,7 @@ public class RobotContainer {
     {
         return m_operatorXbox.getJoyStick();
     }
-    
+
     /**
      * Gets the {@link edu.wpi.first.wpilibj.GenericHID#GenericHID(int) Generic HID} for the Driver Xbox Controller.
      * Generic HIDs/Joysticks can be used to set up JoystickButtons.

src/main/java/frc4388/robot/commands/shooter/HoodPositionPID.java

@@ -30,7 +30,7 @@ public class HoodPositionPID extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    /*double slope = ShooterConstants.HOOD_CONVERT_SLOPE;
+    double slope = ShooterConstants.HOOD_CONVERT_SLOPE;
     double b = ShooterConstants.HOOD_CONVERT_B;
     firingAngle = (-slope*m_shooter.addFireAngle())+b;*/
     //SmartDashboard.putNumber("Shoot Angle From Equation", m_shooter.addFireAngle());

src/main/java/frc4388/robot/commands/shooter/TrackTarget.java

@@ -77,25 +77,23 @@ public class TrackTarget extends CommandBase {
       } else if (turnAmount < 0 && turnAmount > -VisionConstants.MOTOR_DEAD_ZONE) {
         turnAmount = -VisionConstants.MOTOR_DEAD_ZONE;
       }
-      m_shooterAim.runShooterWithInput(-turnAmount - m_shooter.shooterTrims.m_turretTrim);
+      m_shooterAim.runShooterWithInput(-turnAmount);// - m_shooter.shooterTrims.m_turretTrim);
 
       // Finding Distance
       distance = VisionConstants.TARGET_HEIGHT / Math.tan((VisionConstants.LIME_ANGLE + yAngle) * (Math.PI / 180));
       SmartDashboard.putNumber("Distance to Target", distance);
 
         //START Equation Code
-        /*
       double yVel = Math.sqrt(2 * VisionConstants.GRAV * VisionConstants.TARGET_HEIGHT);
       double xVel = (distance * VisionConstants.GRAV) / (yVel);
 
-      fireVel = Math.sqrt((Math.pow(xVel, 2))+(Math.pow(yVel,2)));
+      //fireVel = Math.sqrt((Math.pow(xVel, 2))+(Math.pow(yVel,2)));
       fireAngle = Math.atan(yVel/xVel) * (180/Math.PI);
-      */
         //END Equation Code
 
         //START CSV Code
       fireVel = m_shooter.m_shooterTable.getVelocity(distance);
-      fireAngle = m_shooter.m_shooterTable.getHood(distance); //Note: Ensure to follow because units are different
+      //fireAngle = m_shooter.m_shooterTable.getHood(distance); //Note: Ensure to follow because units are different
       //fireAngle = 33;
         //END CSV Code
 

src/main/java/frc4388/robot/subsystems/Shooter.java

@@ -126,11 +126,10 @@ public class Shooter extends SubsystemBase {
 
   /**
    * Runs drum shooter velocity PID.
-   * @param falcon Motor to use
    * @param targetVel Target velocity to run motor at
    */
   public void runDrumShooterVelocityPID(double targetVel) {
-    System.out.println("dddddddddddddddddddddddd" + targetVel);
+    System.out.println("Target Velocity" + targetVel);
     m_shooterFalcon.set(TalonFXControlMode.Velocity, targetVel); //Init PID
   }
 }