Team4388/RiseOfRidgebotics2020
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ryan123rudder
2021-03-23 16:39:17 -06:00
parent fcc91455ac
commit 289efc78d5
3 changed files with 10 additions and 6 deletions
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src/main/deploy/Robot Data - Distances.csv
+1
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@@ -1,6 +1,7 @@
Distance (in),Hood Ext. (u),Drum Velocity (u/ds),Center Displacment (deg) Distance (in),Hood Ext. (u),Drum Velocity (u/ds),Center Displacment (deg)
0,16,6000,0, 0,16,6000,0,
65.9,16,6000,0, 65.9,16,6000,0,
103,19,6600,1,
126.6,20.25,7000,0, 126.6,20.25,7000,0,
180,24,8000,0, 180,24,8000,0,
185.85,26.5, 9000,1.1, 185.85,26.5, 9000,1.1,
1 Distance (in),Hood Ext. (u),Drum Velocity (u/ds),Center Displacment (deg)
2 0,16,6000,0,
3 65.9,16,6000,0,
4 103,19,6600,1,
5 126.6,20.25,7000,0,
6 180,24,8000,0,
7 185.85,26.5, 9000,1.1,
src/main/java/frc4388/robot/RobotContainer.java
+6 -3
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@@ -185,8 +185,10 @@ public class RobotContainer {
private void configureButtonBindings() { private void configureButtonBindings() {
/* Test Buttons */ /* Test Buttons */
// A driver test button // A driver test button
/*new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON) new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
.whileHeld(new InstantCommand(() -> m_robotDrive.tankDriveVelocity(1, -1), m_robotDrive));*/ .whileHeld(new ShooterTrenchPosition(m_robotShooter, m_robotShooterHood, m_robotShooterAim))
.whenReleased(new InterruptSubystem(m_robotShooter))
.whenReleased(new InterruptSubystem(m_robotShooterHood));
// B driver test button // B driver test button
new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON) new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON)
@@ -231,7 +233,7 @@ public class RobotContainer {
//.whenPressed(new ShootFullGroup(m_robotShooter, m_robotShooterAim, m_robotShooterHood, m_robotStorage), false); //.whenPressed(new ShootFullGroup(m_robotShooter, m_robotShooterAim, m_robotShooterHood, m_robotStorage), false);
//.whenReleased(new ManageStorage(m_robotStorage, StorageMode.RESET)); //.whenReleased(new ManageStorage(m_robotStorage, StorageMode.RESET));
//.whenReleased(new RunCommand(() -> m_robotLime.limeOff())); //.whenReleased(new RunCommand(() -> m_robotLime.limeOff()));
.whenPressed(new RunCommand(() -> m_robotStorage.runStorage(1), m_robotStorage)) .whenPressed(new RunCommand(() -> m_robotStorage.runStorage(0.3), m_robotStorage))
.whenReleased(new InterruptSubystem(m_robotStorage)); .whenReleased(new InterruptSubystem(m_robotStorage));
// extends or retracts the extender // extends or retracts the extender
@@ -270,6 +272,7 @@ public class RobotContainer {
.whileHeld(new CalibrateShooter(m_robotShooter, m_robotShooterAim, m_robotShooterHood)); .whileHeld(new CalibrateShooter(m_robotShooter, m_robotShooterAim, m_robotShooterHood));
//Run drum //Run drum
new JoystickManualButton(getOperatorJoystick(), XboxController.B_BUTTON, false) new JoystickManualButton(getOperatorJoystick(), XboxController.B_BUTTON, false)
.whileHeld(new ShootPrepGroup(m_robotShooter, m_robotShooterAim, m_robotShooterHood, m_robotStorage), false) .whileHeld(new ShootPrepGroup(m_robotShooter, m_robotShooterAim, m_robotShooterHood, m_robotStorage), false)
src/main/java/frc4388/robot/commands/shooter/ShooterTrenchPosition.java
+3 -3
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@@ -34,9 +34,9 @@ public class ShooterTrenchPosition extends CommandBase {
// Called every time the scheduler runs while the command is scheduled. // Called every time the scheduler runs while the command is scheduled.
@Override @Override
public void execute() { public void execute() {
m_shooter.runDrumShooterVelocityPID(5000); m_shooter.runDrumShooterVelocityPID(5500);
m_hood.runAngleAdjustPID(3); m_hood.runAngleAdjustPID(11);
m_aim.runshooterRotatePID(-26.5); //m_aim.runshooterRotatePID(-28);
} }
// Called once the command ends or is interrupted. // Called once the command ends or is interrupted.