diff --git a/PathWeaver/Paths/Barrel b/PathWeaver/Paths/Barrel index c035273..b3bd5cf 100644 --- a/PathWeaver/Paths/Barrel +++ b/PathWeaver/Paths/Barrel @@ -1,15 +1,12 @@ X,Y,Tangent X,Tangent Y,Fixed Theta,Name 1.1943219738452617,-2.286,1.0,0.0,true, -3.396233460027056,-2.2025005475745667,1.6761741931327716,0.12370289248212352,true, -4.466263479997423,-3.0436802164530046,0.15462861560265395,-1.1071408877150035,true, -3.618898666494878,-3.6374541003671967,-1.2555843586935511,0.21029491721960936,true, -3.4951957740127546,-2.530313212652193,1.2184734909489143,0.8226242350061197,true, -6.105326805385555,-2.208685692198673,1.5215455775301168,0.4824412806802809,true, -6.847544160278296,-1.5035792050505696,0.08040688011338037,0.6679956194034656,true, -6.1362525285060885,-0.8788795980158475,-1.261769503317658,0.012370289248212263,true, -5.4868123429749405,-1.7757255685112412,0.42058983443921694,-0.9030311151194992,true, 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+++ b/PathWeaver/Paths/Bounce2 @@ -0,0 +1,5 @@ +X,Y,Tangent X,Tangent Y,Fixed Theta,Name +2.295,-0.7613618501578302,-0.2474057849642466,-2.133874895316627,true, +3.804453005218064,-3.7920827159698507,1.6328781807640258,0.25359092958835294,true, +4.521929781614379,-2.9447179024673065,-0.04948115699285083,0.7422173548927398,true, +4.521929781614379,-0.68095497004445,-0.04329601236874314,0.377293822070476,true, diff --git a/PathWeaver/Paths/Bounce3 b/PathWeaver/Paths/Bounce3 new file mode 100644 index 0000000..64c1d1b --- /dev/null +++ b/PathWeaver/Paths/Bounce3 @@ -0,0 +1,5 @@ +X,Y,Tangent X,Tangent Y,Fixed Theta,Name +4.589966372479545,-0.68095497004445,0.03711086774463812,-0.8349945242543321,true, +5.622885524705275,-3.68075011273594,2.770944791599561,0.15462861560265395,true, +6.692915544675642,-2.882866456226244,0.12988803710623031,0.9339568382400305,true, +6.8537293049024015,-0.6933252592926624,-0.06803659086516767,0.5937738839141918,true, diff --git a/PathWeaver/Paths/Galactic Search ABLUE b/PathWeaver/Paths/Galactic Search ABLUE new file mode 100644 index 0000000..610bd7c --- /dev/null +++ b/PathWeaver/Paths/Galactic Search ABLUE @@ -0,0 +1,3 @@ +X,Y,Tangent X,Tangent Y,Fixed Theta,Name +0.0,0.0,10.0,0.0,true, +10.0,-10.0,0.0,-10.0,true, diff --git a/PathWeaver/Paths/Slalom b/PathWeaver/Paths/Slalom index 26959b3..39b2a86 100644 --- a/PathWeaver/Paths/Slalom +++ b/PathWeaver/Paths/Slalom @@ -1,14 +1,11 @@ X,Y,Tangent X,Tangent Y,Fixed Theta,Name -1.1633962507247309,-3.693120401984152,2.30034323262256,0.058245899632803244,true, -2.85812587772982,-2.412795464794176,0.8102539457579074,0.6494401855311474,true, -4.571410938607228,-2.004575919603169,2.022542292082716,0.05566630161695518,true, -6.105326805385555,-2.3509440185531143,0.8734927301599473,-0.5329783419602319,false, -7.150616246859498,-3.6683798234877276,1.1442517554596412,-0.7174767763963148,true, -8.202090832957547,-3.618898666494878,0.6741807640275734,0.6370698962829353,true, 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"outputDir": ".." -} \ No newline at end of file +} diff --git a/src/main/deploy/Robot Data - Distances.csv b/src/main/deploy/Robot Data - Distances.csv index e33cc7b..7f63722 100644 --- a/src/main/deploy/Robot Data - Distances.csv +++ b/src/main/deploy/Robot Data - Distances.csv @@ -1,7 +1,16 @@ Distance (in),Hood Ext. (u),Drum Velocity (u/ds),Center Displacment (deg) -70,20,7000,2.5, -127,27,8467,2, -223,31.25,10398,2.75, -272,32.4,11776,2.5, -342,33,13733,2, -458,30.5,17000,0, \ No newline at end of file +0,16,12000,1, +65.9,16,12000,1, +103,19,12000,1, +126.6,20.28,12000,1.5, +156.6,28,12000,1.5, +174,28,12000,1.5, +178,28,12000,1.3 +180,28.5,12000,1.3, +185.85,28.5,12000,1.3, +187,28.5,12000,1.3 +200,28.4,12000,1.3 +231,28.4,12000,1.8, +245,28.8,12000,1.8, +262,28.8,12000,1.8, +999,28.8,12000,1.8, \ No newline at end of file diff --git a/src/main/deploy/Robot Data - DistancesOLD.csv b/src/main/deploy/Robot Data - DistancesOLD.csv index a15874a..61cc162 100644 --- a/src/main/deploy/Robot Data - DistancesOLD.csv +++ b/src/main/deploy/Robot Data - DistancesOLD.csv @@ -1,8 +1,63 @@ Distance (in),Hood Ext. 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diff --git a/src/main/driverStation/GOAT DRIVERSTATION.json b/src/main/driverStation/GOAT DRIVERSTATION.json index e61f688..486a0fe 100644 --- a/src/main/driverStation/GOAT DRIVERSTATION.json +++ b/src/main/driverStation/GOAT DRIVERSTATION.json @@ -624,6 +624,12 @@ "_title": "DigitalInput[12]/Value", "Colors/Color when true": "#7CFC00FF", "Colors/Color when false": "#8B0000FF" + }, + { + "_type": "Speed Controller", + "_source0": "network_table:///LiveWindow/Ungrouped/Talon FX [15]", + "_title": "Talon FX [15]", + "Visuals/Orientation": "HORIZONTAL" } ] } @@ -1003,6 +1009,138 @@ } } } + }, + { + "title": "Tab 5", + "autoPopulate": false, + "autoPopulatePrefix": "", + "widgetPane": { + "gridSize": 128.0, + "showGrid": true, + "hgap": 16.0, + "vgap": 16.0, + "tiles": { + "3,0": { + "size": [ + 3, + 3 + ], + "content": { + "_type": "Camera Stream", + "_source0": "camera_server://limelight", + "_title": "limelight", + "Crosshair/Show crosshair": true, + "Crosshair/Crosshair color": "#FFFFFFFF", + "Controls/Show controls": true, + "Controls/Rotation": "NONE", + "compression": -1.0, + "fps": -1, + "imageWidth": 0, + "imageHeight": 0 + } + }, + "7,1": { + "size": [ + 1, + 1 + ], + "content": { + "_type": "Text View", + "_source0": "network_table:///SmartDashboard/Fire Angle CSV", + "_title": "/SmartDashboard/Fire Angle CSV" + } + }, + "7,0": { + "size": [ + 1, + 1 + ], + "content": { + "_type": "Text View", + "_source0": "network_table:///SmartDashboard/Drum Velocity CSV", + "_title": "/SmartDashboard/Drum Velocity CSV" + } + }, + "6,1": { + "size": [ + 1, + 1 + ], + "content": { + "_type": "Text View", + "_source0": "network_table:///SmartDashboard/Distance to Target", + "_title": "/SmartDashboard/Distance to Target" + } + }, + "3,3": { + "size": [ + 1, + 1 + ], + "content": { + "_type": "Text View", + "_source0": "network_table:///SmartDashboard/Distance to Target", + "_title": "/SmartDashboard/Distance to Target" + } + }, + "0,0": { + "size": [ + 2, + 2 + ], + "content": { + "_type": "Graph", + "_source0": "network_table:///SmartDashboard/Drum Velocity", + "_title": "/SmartDashboard/Drum Velocity", + "Graph/Visible time": 30.0, + "Y-axis/Automatic bounds": true, + "Y-axis/Upper bound": 1.0, + "Y-axis/Lower bound": -1.0, + "Visible data/SmartDashboard/Drum Velocity": true + } + }, + "6,2": { + "size": [ + 4, + 2 + ], + "content": { + "_type": "Graph", + "_source0": "network_table:///SmartDashboard/Drum Velocity", + "_title": "/SmartDashboard/Drum Velocity", + "Graph/Visible time": 30.0, + "Y-axis/Automatic bounds": true, + "Y-axis/Upper bound": 1.0, + "Y-axis/Lower bound": -1.0, + "Visible data/SmartDashboard/Drum Velocity": true + } + }, + "4,3": { + "size": [ + 1, + 1 + ], + "content": { + "_type": "Text View", + "_source0": "network_table:///SmartDashboard/Turret Angle Raw", + "_title": "/SmartDashboard/Turret Angle Raw" + } + }, + "6,0": { + "size": [ + 1, + 1 + ], + "content": { + "_type": "Boolean Box", + "_source0": "network_table:///SmartDashboard/Drum Ready", + "_title": "/SmartDashboard/Drum Ready", + "Colors/Color when true": "#7CFC00FF", + "Colors/Color when false": "#8B0000FF" + } + } + } + } } ], "windowGeometry": { diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index e38438d..6ae4c21 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -36,7 +36,7 @@ public final class Constants { public static final boolean isRightMotorInverted = true; public static final boolean isLeftMotorInverted = false; public static final boolean isRightArcadeInverted = false; - public static final boolean isAuxPIDInverted = true; + public static final boolean isAuxPIDInverted = false; /* Drive Configuration */ public static final int DRIVE_TIMEOUT_MS = 30; // Use for all motor config @@ -112,7 +112,8 @@ public final class Constants { public static final class ShooterConstants { /* Motor IDs */ - public static final int SHOOTER_FALCON_ID = 8; + public static final int SHOOTER_FALCON_BALLER_ID = 8; + public static final int SHOOTER_FALCON_BALLER_FOLLOWER_ID = 15; public static final int SHOOTER_ANGLE_ADJUST_ID = 10; public static final int SHOOTER_ROTATE_ID = 9; @@ -120,7 +121,7 @@ public final class Constants { public static final int SHOOTER_SLOT_IDX = 0; public static final int SHOOTER_PID_LOOP_IDX = 1; public static final int SHOOTER_TIMEOUT_MS = 30; - public static final Gains DRUM_SHOOTER_GAINS = new Gains(1.5, 0.0, 100, 0.055, 0, 1.0); + public static final Gains DRUM_SHOOTER_GAINS = new Gains(0.34, 0.0, 0.0, 0.055, 0, 1.0); //Ff was 0.055 //public static final Gains DRUM_SHOOTER_GAINS = new Gains(0.55, 0.0, 100, 0.0, 0, 1.0); public static final Gains SHOOTER_TURRET_GAINS = new Gains(0.6, 0.0, 0.0, 0.0, 0, 1.0); public static final Gains SHOOTER_ANGLE_GAINS = new Gains(0.05, 0.0, 0.0, 0.0, 0, 0.3); @@ -156,7 +157,7 @@ public final class Constants { } public static final class LevelerConstants { - public static final int LEVELER_CAN_ID = 15; + public static final int LEVELER_CAN_ID = 30; } public static final class IntakeConstants {; @@ -171,7 +172,7 @@ public final class Constants { public static final int STORAGE_CAN_ID = 11; public static final double STORAGE_PARTIAL_BALL = 2; public static final double STORAGE_FULL_BALL = 7; - public static final double STORAGE_SPEED = 0.5; + public static final double STORAGE_SPEED = 0.75; public static final double STORAGE_TIMEOUT = 3000; /* Storage Characteristics */ @@ -211,10 +212,10 @@ public final class Constants { public static final class VisionConstants { public static final double FOV = 29.8; //Field of view of limelight - public static final double TARGET_HEIGHT = 71.5; + public static final double TARGET_HEIGHT = 67.5; public static final double LIME_ANGLE = 24.7; public static final double TURN_P_VALUE = 0.8; - public static final double X_ANGLE_ERROR = 1.3; + public static final double X_ANGLE_ERROR = 0.5; public static final double MOTOR_DEAD_ZONE = 0.2; public static final double DISTANCE_ERROR_EQUATION_M = 1.1279; public static final double DISTANCE_ERROR_EQUATION_B = -15.0684; diff --git a/src/main/java/frc4388/robot/Robot.java b/src/main/java/frc4388/robot/Robot.java index 11ac869..ad222b4 100644 --- a/src/main/java/frc4388/robot/Robot.java +++ b/src/main/java/frc4388/robot/Robot.java @@ -70,6 +70,7 @@ public class Robot extends TimedRobot { /* Builds Autos */ m_robotContainer.buildAutos(); SmartDashboard.putString("Is Auto Start?", "NAH"); + m_robotContainer.m_robotLime.limeOff(); } @Override diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 2e4d91c..b93eb74 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -107,7 +107,7 @@ public class RobotContainer { /* Cameras */ private final Camera m_robotCameraFront = new Camera("front", 0, 160, 120, 40); private final Camera m_robotCameraBack = new Camera("back", 1, 160, 120, 40); - private final LimeLight m_robotLime = new LimeLight(); + public final LimeLight m_robotLime = new LimeLight(); /* Controllers */ @@ -184,7 +184,7 @@ public class RobotContainer { // runs the hood with joystick m_robotShooterHood.setDefaultCommand(new RunHoodWithJoystick(m_robotShooterHood, getOperatorController())); // moves the drum not - m_robotShooter.setDefaultCommand(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(0), m_robotShooter)); + m_robotShooter.setDefaultCommand(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(12000), m_robotShooter)); // drives climber with input from triggers on the opperator controller m_robotClimber.setDefaultCommand(new RunClimberWithTriggers(m_robotClimber, getDriverController())); // drives the leveler with an axis input from the driver controller @@ -192,9 +192,9 @@ public class RobotContainer { // continually sends updates to the Blinkin LED controller to keep the lights on m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED)); // runs the storage not - //m_robotStorage.setDefaultCommand(new RunCommand(() -> m_robotStorage.runStorage(0), m_robotStorage)); m_robotStorage.setDefaultCommand(new ManageStorage(m_robotStorage)); - //m_robotLime.setDefaultCommand(new RunCommand(() -> m_robotLime.limeOff(), m_robotLime)); + m_robotLime.setDefaultCommand(new RunCommand(() -> m_robotLime.limeOff(), m_robotLime)); + } /** @@ -205,14 +205,20 @@ public class RobotContainer { */ private void configureButtonBindings() { /* Test Buttons */ + // A driver test button + new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON) + .whileHeld(new ShooterTrenchPosition(m_robotShooter, m_robotShooterHood, m_robotShooterAim)) + .whenReleased(new InterruptSubystem(m_robotShooter)) + .whenReleased(new InterruptSubystem(m_robotShooterHood)); // B driver test button new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON) - .whenPressed(new TurnDegrees(m_robotDrive, 45)); + .whileHeld(new RunCommand(() -> m_robotDrive.runDriveVelocityPID(2000, 45), m_robotDrive)); + // Y driver test button new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON) - .whenPressed(new Wait(m_robotDrive, 0, 0)); + .whenPressed(new InstantCommand(() -> m_robotDrive.runTurningPID(1000), m_robotDrive)); // X driver test button new JoystickButton(getDriverJoystick(), XboxController.X_BUTTON) @@ -250,17 +256,19 @@ public class RobotContainer { //.whenPressed(new ShootFullGroup(m_robotShooter, m_robotShooterAim, m_robotShooterHood, m_robotStorage), false); //.whenReleased(new ManageStorage(m_robotStorage, StorageMode.RESET)); //.whenReleased(new RunCommand(() -> m_robotLime.limeOff())); - .whenPressed(new RunCommand(() -> m_robotStorage.runStorage(1), m_robotStorage)) + .whenPressed(new RunCommand(() -> m_robotStorage.runStorage(1.0), m_robotStorage)) .whenReleased(new InterruptSubystem(m_robotStorage)); // extends or retracts the extender new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON) .whileHeld(new RunCommand(() -> m_robotIntake.runExtender(0.5))) .whenReleased(new InstantCommand(() -> m_robotIntake.runExtender(0))); - + //.whileHeld(new RunCommand(() -> m_robotShooterHood.runHood(0.2), m_robotShooterHood)); + new JoystickButton(getOperatorJoystick(), XboxController.Y_BUTTON) .whileHeld(new RunCommand(() -> m_robotIntake.runExtender(-0.5))) .whenReleased(new InstantCommand(() -> m_robotIntake.runExtender(0))); + //.whileHeld(new RunCommand(() -> m_robotShooterHood.runHood(-0.2), m_robotShooterHood)); // safety for climber and leveler new JoystickButton(getOperatorJoystick(), XboxController.BACK_BUTTON) @@ -271,10 +279,10 @@ public class RobotContainer { new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON) .whileHeld(new TrackTarget(m_robotShooterAim)) .whileHeld(new RunCommand(() -> m_robotShooterHood.runAngleAdjustPID(m_robotShooterHood.addFireAngle()))) - //.whenPressed(new StoragePrep(m_robotStorage)) - //.whenReleased(new InterruptSubystem(m_robotStorage)) .whenReleased(new InstantCommand(() -> m_robotLime.limeOff())); - //.whileHeld(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(13000))); + + //.whileHeld(new RunCommand(() -> m_robotShooterAim.runshooterRotatePID())); + //.whileHeld(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(11000))); //.whileHeld(new HoldTarget(m_robotShooter, m_robotShooterAim)) //.whileHeld(new RunCommand(() -> m_robotShooter.runAngleAdjustPID(30))); @@ -287,6 +295,7 @@ public class RobotContainer { .whileHeld(new CalibrateShooter(m_robotShooter, m_robotShooterAim, m_robotShooterHood)); + //Run drum new JoystickManualButton(getOperatorJoystick(), XboxController.B_BUTTON, false) .whileHeld(new ShootPrepGroup(m_robotShooter, m_robotShooterAim, m_robotShooterHood, m_robotStorage), false) @@ -339,6 +348,51 @@ public class RobotContainer { m_sixBallAutoMiddle = new SixBallAutoMiddle(m_robotDrive, buildPaths(sixBallAutoMiddlePaths)); + String[] sixBallAutoMiddle0Paths = new String[]{ + "SixBallMid0" + }; + + m_sixBallAutoMiddle0 = new SixBallAutoMiddle(m_robotDrive, buildPaths(sixBallAutoMiddle0Paths)); + + String[] sixBallAutoMiddle1Paths = new String[]{ + "SixBallMid1" + }; + + m_sixBallAutoMiddle1 = new SixBallAutoMiddle(m_robotDrive, buildPaths(sixBallAutoMiddle1Paths)); + + String[] slalom = new String[]{ + "Slalom" + }; + + m_slalom = new Slalom(m_robotDrive, buildPaths(slalom)); + + String[] barrel = new String[]{ + "BarrelStart" + }; + + m_barrel = new Barrel(m_robotDrive, buildPaths(barrel)); + + String[] barrelStart = new String[]{ + "Barrel" + }; + + m_barrelStart = new BarrelStart(m_robotDrive, buildPaths(barrelStart)); + + String[] bounce = new String[]{ + "Bounce1", + "Bounce2", + "Bounce3", + "Bounce4" + }; + + m_bounce = new Bounce(m_robotDrive, this, buildPaths(bounce)); + + String[] barrelMany = new String[]{ + "BarrelManyWaypoints" + }; + + m_barrelMany = new BarrelMany(m_robotDrive, buildPaths(barrelMany)); + String[] eightBallAutoMiddlePaths = new String[]{ "EightBallMidComplete" }; @@ -349,14 +403,14 @@ public class RobotContainer { "DriveOffLineForward" }; - m_driveOffLineForward = new DriveOffLineForward(m_robotDrive, buildPaths(driveOffLineForwardPaths)); + m_driveOffLineForward = new DriveOffLineForward(m_robotDrive, this, buildPaths(driveOffLineForwardPaths)); String[] driveOffLineBackwardPaths = new String[]{ "DriveOffLineBackward" }; m_driveOffLineBackward = new DriveOffLineBackward(m_robotDrive, buildPaths(driveOffLineBackwardPaths)); - + String[] fiveBallAutoMiddlePaths = new String[]{ "FiveBallMidComplete" }; @@ -367,17 +421,16 @@ public class RobotContainer { "SixBallMidComplete", "TenBallMidComplete" }; - m_tenBallAutoMiddle = new TenBallAutoMiddle(m_robotShooterHood, m_robotStorage, m_robotIntake, m_robotShooter, m_robotShooterAim, m_robotDrive,buildPaths(tenBallAutoMiddlePaths)); - + String[] galacticSearchPaths = new String[]{ "GSC_ARED", "GSC_ABLUE", "GSC_BRED", "GSC_BBLUE" }; - idenPath(); + m_galacticSearch = new GalacticSearch(m_robotLime, m_robotIntake, buildPaths(galacticSearchPaths)); } @@ -402,8 +455,8 @@ public class RobotContainer { //return m_sixBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0)); //return m_sixBallAutoMiddle1.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0)); //return m_eightBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0)); - //return m_driveOffLineForward.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0)); - //return m_driveOffLinfeBackward.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0)); + return m_driveOffLineForward.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0)); + //return m_driveOffLineBackward.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0)); //return m_fiveBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0)); //return m_tenBallAutoMiddle.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0)); //return m_slalom.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0)); @@ -417,7 +470,7 @@ public class RobotContainer { System.err.println("ERROR"); } - return new InstantCommand(); + return new InstantCommand(); } TrajectoryConfig getTrajectoryConfig() { @@ -451,7 +504,7 @@ public class RobotContainer { String path = paths[0]; String trajectoryJSON = "paths/" + path + ".wpilib.json"; Path trajectoryPath = Filesystem.getDeployDirectory().toPath().resolve(trajectoryJSON); - + SmartDashboard.putString("trajectoryPath Initial", trajectoryPath.toString()); Trajectory trajectory = TrajectoryUtil.fromPathweaverJson(trajectoryPath); @@ -499,7 +552,7 @@ public class RobotContainer { } /** - * + * */ public void shiftClimberRachet(boolean state) { m_robotClimber.shiftServo(state); diff --git a/src/main/java/frc4388/robot/commands/auto/BarrelStart.java b/src/main/java/frc4388/robot/commands/auto/BarrelStart.java index 98d3460..506309f 100644 --- a/src/main/java/frc4388/robot/commands/auto/BarrelStart.java +++ b/src/main/java/frc4388/robot/commands/auto/BarrelStart.java @@ -7,8 +7,10 @@ package frc4388.robot.commands.auto; +import edu.wpi.first.wpilibj2.command.InstantCommand; import edu.wpi.first.wpilibj2.command.RamseteCommand; import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; +import edu.wpi.first.wpilibj2.command.CommandBase; import frc4388.robot.RobotContainer; import frc4388.robot.subsystems.Drive; @@ -23,7 +25,10 @@ public class BarrelStart extends SequentialCommandGroup { // Add your commands in the super() call, e.g. // super(new FooCommand(), new BarCommand()); addCommands( - paths[0] + paths[0], + //new Wait(drive, 0.01, 1), + new TankDriveVelocity(drive, 5, 5, 1.2) //my life be like oooooo aaaaaa ooooo aaaa ); + } } diff --git a/src/main/java/frc4388/robot/commands/auto/Bounce.java b/src/main/java/frc4388/robot/commands/auto/Bounce.java index 7a65a4a..8a11888 100644 --- a/src/main/java/frc4388/robot/commands/auto/Bounce.java +++ b/src/main/java/frc4388/robot/commands/auto/Bounce.java @@ -7,8 +7,12 @@ package frc4388.robot.commands.auto; +import edu.wpi.first.wpilibj.geometry.Pose2d; +import edu.wpi.first.wpilibj2.command.InstantCommand; import edu.wpi.first.wpilibj2.command.RamseteCommand; +import edu.wpi.first.wpilibj2.command.RunCommand; import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; +import frc4388.robot.RobotContainer; import frc4388.robot.subsystems.Drive; // NOTE: Consider using this command inline, rather than writing a subclass. For more @@ -18,7 +22,7 @@ public class Bounce extends SequentialCommandGroup { /** * Creates a new Bounce. */ - public Bounce(Drive drive, RamseteCommand[] paths) { + public Bounce(Drive drive, RobotContainer robotContainer, RamseteCommand[] paths) { // Add your commands in the super() call, e.g. // super(new FooCommand(), new BarCommand()); addCommands( diff --git a/src/main/java/frc4388/robot/commands/auto/DriveOffLineForward.java b/src/main/java/frc4388/robot/commands/auto/DriveOffLineForward.java index a5fb618..05b2533 100644 --- a/src/main/java/frc4388/robot/commands/auto/DriveOffLineForward.java +++ b/src/main/java/frc4388/robot/commands/auto/DriveOffLineForward.java @@ -7,8 +7,11 @@ package frc4388.robot.commands.auto; +import edu.wpi.first.wpilibj.geometry.Pose2d; +import edu.wpi.first.wpilibj2.command.InstantCommand; import edu.wpi.first.wpilibj2.command.RamseteCommand; import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; +import frc4388.robot.RobotContainer; import frc4388.robot.subsystems.Drive; // NOTE: Consider using this command inline, rather than writing a subclass. For more @@ -18,11 +21,13 @@ public class DriveOffLineForward extends SequentialCommandGroup { /** * Creates a new DriveOffLineForward. */ - public DriveOffLineForward(Drive drive, RamseteCommand[] paths) { + public DriveOffLineForward(Drive drive, RobotContainer robotContainer, RamseteCommand[] paths) { // Add your commands in the super() call, e.g. // super(new FooCommand(), new BarCommand()); addCommands( + new InstantCommand(() -> drive.switchReversed(true)), + new InstantCommand(() -> robotContainer.resetOdometry(new Pose2d())), paths[0] ); } diff --git a/src/main/java/frc4388/robot/commands/auto/TankDriveVelocity.java b/src/main/java/frc4388/robot/commands/auto/TankDriveVelocity.java index 595d37c..945a77f 100644 --- a/src/main/java/frc4388/robot/commands/auto/TankDriveVelocity.java +++ b/src/main/java/frc4388/robot/commands/auto/TankDriveVelocity.java @@ -15,10 +15,10 @@ public class TankDriveVelocity extends CommandBase { double m_leftTargetVel; double m_rightTargetVel; - double m_targetTime; - double m_firstTimeSec; - double m_currentTimeSec; - double m_diffSec; + long m_targetTime; + long m_firstTime; + long m_currentTime; + long m_diffTime; /** * Creates a new TankDriveVelocity. @@ -28,24 +28,24 @@ public class TankDriveVelocity extends CommandBase { m_drive = subsystem; m_leftTargetVel = leftTargetVel; m_rightTargetVel = rightTargetVel; - m_targetTime = targetTime; + m_targetTime = (long) (targetTime * 1000); addRequirements(subsystem); } // Called when the command is initially scheduled. @Override public void initialize() { - m_firstTimeSec = (System.currentTimeMillis() / 1000); - m_diffSec = 0; + m_firstTime = System.currentTimeMillis(); + m_diffTime = 0; } // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - m_currentTimeSec = (System.currentTimeMillis() / 1000); - m_diffSec = m_currentTimeSec - m_firstTimeSec; + m_currentTime = System.currentTimeMillis(); + m_diffTime = m_currentTime - m_firstTime; - if (m_diffSec < m_targetTime) { + if (m_diffTime < m_targetTime) { m_drive.tankDriveVelocity(m_leftTargetVel, m_rightTargetVel); } @@ -59,7 +59,7 @@ public class TankDriveVelocity extends CommandBase { // Returns true when the command should end. @Override public boolean isFinished() { - if (m_diffSec >= m_targetTime) { + if (m_diffTime >= m_targetTime) { return true; } return false; diff --git a/src/main/java/frc4388/robot/commands/drive/DriveStraightAtVelocityPID.java b/src/main/java/frc4388/robot/commands/drive/DriveStraightAtVelocityPID.java index e63a5bf..3f63d25 100644 --- a/src/main/java/frc4388/robot/commands/drive/DriveStraightAtVelocityPID.java +++ b/src/main/java/frc4388/robot/commands/drive/DriveStraightAtVelocityPID.java @@ -29,7 +29,7 @@ public class DriveStraightAtVelocityPID extends CommandBase { // Called when the command is initially scheduled. @Override public void initialize() { - m_targetGyro = m_drive.m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN); + m_targetGyro = (m_drive.m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN)); } // Called every time the scheduler runs while the command is scheduled. diff --git a/src/main/java/frc4388/robot/commands/drive/DriveWithJoystick.java b/src/main/java/frc4388/robot/commands/drive/DriveWithJoystick.java index b2aba9c..b39d6b9 100644 --- a/src/main/java/frc4388/robot/commands/drive/DriveWithJoystick.java +++ b/src/main/java/frc4388/robot/commands/drive/DriveWithJoystick.java @@ -94,7 +94,7 @@ public class DriveWithJoystick extends CommandBase { } */ - m_drive.driveWithInput(-moveOutput, steerOutput); + m_drive.driveWithInput(moveOutput, steerOutput * .8); } // Called once the command ends or is interrupted. diff --git a/src/main/java/frc4388/robot/commands/drive/GotoCoordinatesRobotRelative.java b/src/main/java/frc4388/robot/commands/drive/GotoCoordinatesRobotRelative.java index 5ffd58c..df68e4d 100644 --- a/src/main/java/frc4388/robot/commands/drive/GotoCoordinatesRobotRelative.java +++ b/src/main/java/frc4388/robot/commands/drive/GotoCoordinatesRobotRelative.java @@ -46,7 +46,7 @@ public class GotoCoordinatesRobotRelative extends SequentialCommandGroup { addCommands( new TurnDegrees(m_drive, m_currentAngle), new Wait(m_drive, 0, 0), new DriveStraightToPositionPID(m_drive, m_pneumatics, m_hypotDist), - new TurnDegrees(m_drive, m_endAngle - m_currentAngle)); + new TurnDegrees(m_drive, (m_endAngle - m_currentAngle) % 360)); } public GotoCoordinatesRobotRelative(Drive subsystem, Pneumatics subsystem2, double xTarget, double yTarget) { diff --git a/src/main/java/frc4388/robot/commands/shooter/CalibrateShooter.java b/src/main/java/frc4388/robot/commands/shooter/CalibrateShooter.java index 5e28114..14e19ce 100644 --- a/src/main/java/frc4388/robot/commands/shooter/CalibrateShooter.java +++ b/src/main/java/frc4388/robot/commands/shooter/CalibrateShooter.java @@ -61,7 +61,7 @@ public class CalibrateShooter extends CommandBase { @Override public boolean isFinished() { if (m_shooterAim.m_shooterRotateMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyOpen).get() && - m_shooterHood.m_angleAdjustMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyOpen).get()) { + m_shooterHood.m_hoodDownLimit.get()) { return true; } return false; diff --git a/src/main/java/frc4388/robot/commands/shooter/ShooterGoalPosition.java b/src/main/java/frc4388/robot/commands/shooter/ShooterGoalPosition.java index b750c66..100e077 100644 --- a/src/main/java/frc4388/robot/commands/shooter/ShooterGoalPosition.java +++ b/src/main/java/frc4388/robot/commands/shooter/ShooterGoalPosition.java @@ -35,7 +35,7 @@ public class ShooterGoalPosition extends CommandBase { @Override public void execute() { m_shooter.runDrumShooterVelocityPID(5000); - m_hood.runAngleAdjustPID(3); + m_hood.runAngleAdjustPID(4); m_aim.runshooterRotatePID(-26.5); } diff --git a/src/main/java/frc4388/robot/commands/shooter/ShooterTrenchPosition.java b/src/main/java/frc4388/robot/commands/shooter/ShooterTrenchPosition.java index ba452b7..793f245 100644 --- a/src/main/java/frc4388/robot/commands/shooter/ShooterTrenchPosition.java +++ b/src/main/java/frc4388/robot/commands/shooter/ShooterTrenchPosition.java @@ -34,9 +34,9 @@ public class ShooterTrenchPosition extends CommandBase { // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - m_shooter.runDrumShooterVelocityPID(5000); - m_hood.runAngleAdjustPID(3); - m_aim.runshooterRotatePID(-26.5); + m_shooter.runDrumShooterVelocityPID(5500); + m_hood.runAngleAdjustPID(11); + //m_aim.runshooterRotatePID(-28); } // Called once the command ends or is interrupted. diff --git a/src/main/java/frc4388/robot/commands/shooter/ShooterVelocityControlPID.java b/src/main/java/frc4388/robot/commands/shooter/ShooterVelocityControlPID.java index b3d3ac1..11ccd56 100644 --- a/src/main/java/frc4388/robot/commands/shooter/ShooterVelocityControlPID.java +++ b/src/main/java/frc4388/robot/commands/shooter/ShooterVelocityControlPID.java @@ -35,7 +35,7 @@ public class ShooterVelocityControlPID extends CommandBase { @Override public void execute() { //Tells whether the target velocity has been reached - m_actualVel = m_shooter.m_shooterFalcon.getSelectedSensorPosition(); + m_actualVel = m_shooter.m_shooterFalconLeft.getSelectedSensorPosition(); m_targetVel = m_shooter.addFireVel(); double error = m_actualVel - m_targetVel; if (Math.abs(error) < ShooterConstants.DRUM_VELOCITY_BOUND){ diff --git a/src/main/java/frc4388/robot/commands/shooter/TrackTarget.java b/src/main/java/frc4388/robot/commands/shooter/TrackTarget.java index cf4afcc..b682cb1 100644 --- a/src/main/java/frc4388/robot/commands/shooter/TrackTarget.java +++ b/src/main/java/frc4388/robot/commands/shooter/TrackTarget.java @@ -70,24 +70,26 @@ public class TrackTarget extends CommandBase { yAngle = NetworkTableInstance.getDefault().getTable("limelight").getEntry("ty").getDouble(0); // Finding Distance - distance = VisionConstants.TARGET_HEIGHT / Math.tan((VisionConstants.LIME_ANGLE + yAngle) * (Math.PI / 180)); + distance = (VisionConstants.TARGET_HEIGHT) / Math.tan((VisionConstants.LIME_ANGLE + yAngle) * (Math.PI / 180)); realDistance = (1.09 * distance) - 12.8; if (target == 1.0) { // If target in view // Aiming Left/Right xAngle = xAngle + m_shooter.m_shooterTable.getCenterDisplacement(realDistance); - turnAmount = (xAngle / VisionConstants.FOV) * VisionConstants.TURN_P_VALUE; + turnAmount = ((xAngle / VisionConstants.FOV) * VisionConstants.TURN_P_VALUE); if (Math.abs(xAngle) < VisionConstants.X_ANGLE_ERROR) { turnAmount = 0; } // Angle Error Zone // Deadzones - else if (turnAmount > 0 && turnAmount < VisionConstants.MOTOR_DEAD_ZONE) { - turnAmount = VisionConstants.MOTOR_DEAD_ZONE; - } else if (turnAmount < 0 && turnAmount > -VisionConstants.MOTOR_DEAD_ZONE) { - turnAmount = -VisionConstants.MOTOR_DEAD_ZONE; + else if (turnAmount > 0 && turnAmount < 0.1){// VisionConstants.MOTOR_DEAD_ZONE) { + turnAmount = 0.1;//VisionConstants.MOTOR_DEAD_ZONE; + } else if (turnAmount < 0 && turnAmount > -0.1){//-VisionConstants.MOTOR_DEAD_ZONE) { + turnAmount = -0.1;//-VisionConstants.MOTOR_DEAD_ZONE; } + m_shooterAim.runShooterWithInput(-turnAmount);// - m_shooter.shooterTrims.m_turretTrim); + //m_shooterAim.runshooterRotatePID(targetAngle); SmartDashboard.putNumber("Distance to Target", realDistance); SmartDashboard.putNumber("Center Displacement", m_shooter.m_shooterTable.getCenterDisplacement(realDistance)); diff --git a/src/main/java/frc4388/robot/subsystems/Drive.java b/src/main/java/frc4388/robot/subsystems/Drive.java index 8640dca..3033530 100644 --- a/src/main/java/frc4388/robot/subsystems/Drive.java +++ b/src/main/java/frc4388/robot/subsystems/Drive.java @@ -46,6 +46,7 @@ public class Drive extends SubsystemBase { public WPI_TalonFX m_rightBackMotor = new WPI_TalonFX(DriveConstants.DRIVE_RIGHT_BACK_CAN_ID); public static PigeonIMU m_pigeon = new PigeonIMU(DriveConstants.PIGEON_ID); public static GyroBase m_pigeonGyro; + public boolean m_isReversed; /* Drive objects to manage Drive Train */ public DifferentialDrive m_driveTrain; @@ -312,7 +313,7 @@ public class Drive extends SubsystemBase { public void passRequiredSubsystem(Pneumatics subsystem, Shooter shooter) { m_pneumaticsSubsystem = subsystem; m_shooter = shooter; - m_orchestra.addInstrument(m_shooter.m_shooterFalcon); + m_orchestra.addInstrument(m_shooter.m_shooterFalconLeft); } public void updateTime() { @@ -339,9 +340,27 @@ public class Drive extends SubsystemBase { m_totalRightDistanceInches += ticksToInches(m_currentRightPosTicks - m_lastRightPosTicks); m_totalLeftDistanceInches += ticksToInches(m_currentLeftPosTicks - m_lastLeftPosTicks); - m_odometry.update(Rotation2d.fromDegrees( getHeading()), + updateOdometry(m_isReversed); + } + + public void updateOdometry(boolean reversed){ + if (reversed){ + + m_odometry.update(Rotation2d.fromDegrees( -getGyroYaw()-180), + -inchesToMeters(getDistanceInches(m_rightFrontMotor)), + inchesToMeters(getDistanceInches(m_leftFrontMotor))); + } + else + { + m_odometry.update(Rotation2d.fromDegrees( getHeading()), inchesToMeters(getDistanceInches(m_leftFrontMotor)), -inchesToMeters(getDistanceInches(m_rightFrontMotor))); + } + } + + public void switchReversed(boolean reversed) + { + m_isReversed = reversed; } /** @@ -401,7 +420,7 @@ public class Drive extends SubsystemBase { m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY); m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_TURNING, DriveConstants.PID_TURN); - m_rightFrontMotor.set(TalonFXControlMode.Velocity, targetVel, DemandType.AuxPID, targetGyro); + m_rightFrontMotor.set(TalonFXControlMode.Velocity, targetVel, DemandType.AuxPID, targetGyro); m_leftFrontMotor.follow(m_rightFrontMotor, FollowerType.AuxOutput1); m_leftBackMotor.follow(m_leftFrontMotor); m_rightBackMotor.follow(m_rightFrontMotor); @@ -426,7 +445,7 @@ public class Drive extends SubsystemBase { m_rightBackMotor.follow(m_rightFrontMotor); m_driveTrain.feedWatchdog(); - + } /** diff --git a/src/main/java/frc4388/robot/subsystems/LimeLight.java b/src/main/java/frc4388/robot/subsystems/LimeLight.java index 9af3b46..86afb41 100644 --- a/src/main/java/frc4388/robot/subsystems/LimeLight.java +++ b/src/main/java/frc4388/robot/subsystems/LimeLight.java @@ -23,15 +23,15 @@ public class LimeLight extends SubsystemBase { } public void limeOff(){ - NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(0); + NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(1); NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(1); } - + public void limeOn(){ NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(0); NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(3); } - + public void changePipeline(int pipelineId) { NetworkTableInstance.getDefault().getTable("limelight").getEntry("pipeline").setNumber(pipelineId); diff --git a/src/main/java/frc4388/robot/subsystems/Shooter.java b/src/main/java/frc4388/robot/subsystems/Shooter.java index 890e0f7..a45894e 100644 --- a/src/main/java/frc4388/robot/subsystems/Shooter.java +++ b/src/main/java/frc4388/robot/subsystems/Shooter.java @@ -21,8 +21,8 @@ import frc4388.utility.controller.IHandController; public class Shooter extends SubsystemBase { - public WPI_TalonFX m_shooterFalcon = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_ID); - + public WPI_TalonFX m_shooterFalconLeft = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_BALLER_ID); + public WPI_TalonFX m_shooterFalconRight = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_BALLER_FOLLOWER_ID); public static Gains m_drumShooterGains = ShooterConstants.DRUM_SHOOTER_GAINS; public static Shooter m_shooter; public static IHandController m_controller; @@ -50,24 +50,42 @@ public class Shooter extends SubsystemBase { //SmartDashboard.putNumber("Velocity Target", 10000); //SmartDashboard.putNumber("Angle Target", 3); - m_shooterFalcon.configFactoryDefault(); - m_shooterFalcon.setNeutralMode(NeutralMode.Coast); - m_shooterFalcon.setInverted(true); - m_shooterFalcon.configOpenloopRamp(1, ShooterConstants.SHOOTER_TIMEOUT_MS); - m_shooterFalcon.configClosedloopRamp(0.75, ShooterConstants.SHOOTER_TIMEOUT_MS); + //LEFT FALCON + m_shooterFalconLeft.configFactoryDefault(); + m_shooterFalconLeft.setNeutralMode(NeutralMode.Coast); + m_shooterFalconLeft.setInverted(true); + m_shooterFalconLeft.configOpenloopRamp(1, ShooterConstants.SHOOTER_TIMEOUT_MS); + m_shooterFalconLeft.configClosedloopRamp(0.75, ShooterConstants.SHOOTER_TIMEOUT_MS); + + //RIGHT FALCON + m_shooterFalconRight.configFactoryDefault(); + m_shooterFalconRight.setNeutralMode(NeutralMode.Coast); + m_shooterFalconRight.setInverted(false); + m_shooterFalconRight.configOpenloopRamp(1, ShooterConstants.SHOOTER_TIMEOUT_MS); + m_shooterFalconRight.configClosedloopRamp(0.75, ShooterConstants.SHOOTER_TIMEOUT_MS); setShooterGains(); - m_shooterFalcon.configPeakOutputReverse(0, ShooterConstants.SHOOTER_TIMEOUT_MS); - - m_shooterFalcon.setSelectedSensorPosition(0, ShooterConstants.SHOOTER_PID_LOOP_IDX, ShooterConstants.SHOOTER_TIMEOUT_MS); - int closedLoopTimeMs = 1; - m_shooterFalcon.configClosedLoopPeriod(0, closedLoopTimeMs, ShooterConstants.SHOOTER_TIMEOUT_MS); + //LEFT FALCON + m_shooterFalconLeft.configPeakOutputReverse(0, ShooterConstants.SHOOTER_TIMEOUT_MS); + + m_shooterFalconLeft.setSelectedSensorPosition(0, ShooterConstants.SHOOTER_PID_LOOP_IDX, ShooterConstants.SHOOTER_TIMEOUT_MS); + + m_shooterFalconLeft.configClosedLoopPeriod(0, closedLoopTimeMs, ShooterConstants.SHOOTER_TIMEOUT_MS); + + m_shooterFalconLeft.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG, ShooterConstants.SHOOTER_TIMEOUT_MS); + + + //RIGHT FALCON + //m_shooterFalconRight.configPeakOutputForward(0, ShooterConstants.SHOOTER_TIMEOUT_MS); + + m_shooterFalconRight.setSelectedSensorPosition(0, ShooterConstants.SHOOTER_PID_LOOP_IDX, ShooterConstants.SHOOTER_TIMEOUT_MS); + + m_shooterFalconRight.configClosedLoopPeriod(0, closedLoopTimeMs, ShooterConstants.SHOOTER_TIMEOUT_MS); + + m_shooterFalconRight.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG, ShooterConstants.SHOOTER_TIMEOUT_MS); m_shooterTable = new ShooterTables(); - - m_shooterFalcon.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG, ShooterConstants.SHOOTER_TIMEOUT_MS); - //SmartDashboard.putNumber("CSV 10", m_shooterTable.getVelocity(10)); //SmartDashboard.putNumber("CSV 200", m_shooterTable.getVelocity(200)); //SmartDashboard.putNumber("CSV 250", m_shooterTable.getVelocity(250)); @@ -83,13 +101,13 @@ public class Shooter extends SubsystemBase { public void periodic() { // This method will be called once per scheduler run try{ - SmartDashboard.putNumber("Drum Velocity", m_shooterFalcon.getSelectedSensorVelocity()); + SmartDashboard.putNumber("Drum Velocity", m_shooterFalconLeft.getSelectedSensorVelocity()); SmartDashboard.putNumber("Drum Velocity CSV", m_fireVel); - SmartDashboard.putNumber("Shooter Temp C", m_shooterFalcon.getTemperature()); + SmartDashboard.putNumber("Shooter Temp C", m_shooterFalconLeft.getTemperature()); - SmartDashboard.putNumber("Shooter Current", m_shooterFalcon.getSupplyCurrent()); + SmartDashboard.putNumber("Shooter Current", m_shooterFalconLeft.getSupplyCurrent()); SmartDashboard.putBoolean("Drum Ready" , m_isDrumReady); } @@ -118,18 +136,20 @@ public class Shooter extends SubsystemBase { * @param speed Speed to set the motor at */ public void runDrumShooter(double speed) { - m_shooterFalcon.set(speed); + m_shooterFalconLeft.set(TalonFXControlMode.PercentOutput, speed); + m_shooterFalconRight.follow(m_shooterFalconLeft); + //m_shooterFalconRight.set(TalonFXControlMode.PercentOutput, speed); } /** * Configures gains for shooter PID. */ public void setShooterGains() { - m_shooterFalcon.selectProfileSlot(ShooterConstants.SHOOTER_SLOT_IDX, ShooterConstants.SHOOTER_PID_LOOP_IDX); - m_shooterFalcon.config_kF(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.m_kF, ShooterConstants.SHOOTER_TIMEOUT_MS); - m_shooterFalcon.config_kP(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.m_kP, ShooterConstants.SHOOTER_TIMEOUT_MS); - m_shooterFalcon.config_kI(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.m_kI, ShooterConstants.SHOOTER_TIMEOUT_MS); - m_shooterFalcon.config_kD(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.m_kD, ShooterConstants.SHOOTER_TIMEOUT_MS); + m_shooterFalconLeft.selectProfileSlot(ShooterConstants.SHOOTER_SLOT_IDX, ShooterConstants.SHOOTER_PID_LOOP_IDX); + m_shooterFalconLeft.config_kF(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.m_kF, ShooterConstants.SHOOTER_TIMEOUT_MS); + m_shooterFalconLeft.config_kP(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.m_kP, ShooterConstants.SHOOTER_TIMEOUT_MS); + m_shooterFalconLeft.config_kI(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.m_kI, ShooterConstants.SHOOTER_TIMEOUT_MS); + m_shooterFalconLeft.config_kD(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.m_kD, ShooterConstants.SHOOTER_TIMEOUT_MS); } /** @@ -138,6 +158,7 @@ public class Shooter extends SubsystemBase { */ public void runDrumShooterVelocityPID(double targetVel) { //System.out.println("Target Velocity" + targetVel); - m_shooterFalcon.set(TalonFXControlMode.Velocity, targetVel); //Init PID + m_shooterFalconLeft.set(TalonFXControlMode.Velocity, targetVel); //Init PID + m_shooterFalconRight.follow(m_shooterFalconLeft); } } \ No newline at end of file