tuning

src/main/deploy/Robot Data - Distances.csv

@@ -1,10 +1,12 @@
 Distance (in),Hood Ext. (u),Drum Velocity (u/ds),Center Displacment (deg)
-0,16,6000,0,
+0,16,6000,1,
-65.9,16,6000,0,
+65.9,16,6000,1,
 103,19,6600,1,
-126.6,20.25,7000,0,
+126.6,20.25,7000,1.5,
-180,24,8000,0,
+156.6,22,7500,1.5,
-185.85,26.5, 9000,1.1,
+180,24,8000,2,
-245,28.9,9500,0,
+185.85,26.5,9000,2.5,
-262,28.9,9500,0,
+231,28.8,9500,1.8,
-999,28.9,9500,0,
+245,28.8,9500,1.8,
+262,28.8,9500,1.8,
+999,28.8,9500,1.8,

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"
                 }
               ]
             }
@@ -1003,12 +1009,144 @@
           }
         }
       }
+    },
+    {
+      "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": {
-    "x": -6.400000095367432,
+    "x": -7.199999809265137,
-    "y": 1.600000023841858,
+    "y": -7.199999809265137,
-    "width": 1547.199951171875,
+    "width": 1550.4000244140625,
-    "height": 828.7999877929688
+    "height": 838.4000244140625
   }
 }

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

@@ -191,8 +191,8 @@ public class RobotContainer {
             .whenReleased(new InterruptSubystem(m_robotShooterHood));
 
         // B driver test button
-        new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON)
+        /*new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON)
-            .whenPressed(new TurnDegrees(m_robotDrive, 90));
+            .whenPressed(new TurnDegrees(m_robotDrive, 90));*/
         // Y driver test button
         new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
             .whenPressed(new Wait(m_robotDrive, 0, 0));

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);
   }