More competition updates

- increase index speed - adjust arm angles to moved encoder
team178 · Mar 11, 2024 · 3e86bdc · 3e86bdc
1 parent 564d94f
commit 3e86bdc
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Showing 5 changed files with 119 additions and 119 deletions.
diff --git a/networktables.json b/networktables.json
@@ -1,116 +1,4 @@
 [
-  {
-    "name": "/Preferences/kSwerveTestTurn",
-    "type": "double",
-    "value": 0.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/kSwerveTestDrive",
-    "type": "double",
-    "value": 0.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/0 Front LeftEnabled",
-    "type": "boolean",
-    "value": true,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/kSwerveModuleDriveP",
-    "type": "double",
-    "value": 0.01,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/kSwerveModuleDriveI",
-    "type": "double",
-    "value": 0.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/kSwerveModuleDriveD",
-    "type": "double",
-    "value": 0.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/kSwerveModuleDriveV",
-    "type": "double",
-    "value": 0.145,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/kSwerveModuleTurnP",
-    "type": "double",
-    "value": 0.3,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/kSwerveModuleTurnI",
-    "type": "double",
-    "value": 0.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/kSwerveModuleTurnD",
-    "type": "double",
-    "value": 0.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/kSwerveModuleTurnV",
-    "type": "double",
-    "value": 0.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/1 Front RightEnabled",
-    "type": "boolean",
-    "value": true,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/2 Back LeftEnabled",
-    "type": "boolean",
-    "value": true,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/3 Back RightEnabled",
-    "type": "boolean",
-    "value": true,
-    "properties": {
-      "persistent": true
-    }
-  },
   {
     "name": "/Preferences/testwrist",
     "type": "double",

diff --git a/networktables.json.bck b/networktables.json.bck
@@ -1,4 +1,116 @@
 [
+  {
+    "name": "/Preferences/kSwerveTestTurn",
+    "type": "double",
+    "value": 0.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/kSwerveTestDrive",
+    "type": "double",
+    "value": 0.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/0 Front LeftEnabled",
+    "type": "boolean",
+    "value": true,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/kSwerveModuleDriveP",
+    "type": "double",
+    "value": 0.01,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/kSwerveModuleDriveI",
+    "type": "double",
+    "value": 0.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/kSwerveModuleDriveD",
+    "type": "double",
+    "value": 0.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/kSwerveModuleDriveV",
+    "type": "double",
+    "value": 0.145,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/kSwerveModuleTurnP",
+    "type": "double",
+    "value": 0.3,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/kSwerveModuleTurnI",
+    "type": "double",
+    "value": 0.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/kSwerveModuleTurnD",
+    "type": "double",
+    "value": 0.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/kSwerveModuleTurnV",
+    "type": "double",
+    "value": 0.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/1 Front RightEnabled",
+    "type": "boolean",
+    "value": true,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/2 Back LeftEnabled",
+    "type": "boolean",
+    "value": true,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/3 Back RightEnabled",
+    "type": "boolean",
+    "value": true,
+    "properties": {
+      "persistent": true
+    }
+  },
   {
     "name": "/Preferences/testwrist",
     "type": "double",

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -78,9 +78,9 @@ private void configureBindings() {
     altController.b().onTrue(shooter.runSetWristPosition(ShooterPosition.FLAT));
     altController.rightStick().onTrue(shooter.runShooter(20));
     altController.rightStick().onFalse(shooter.runShooter(0));
-    altController.leftBumper().onTrue(shooter.runIndex(-12));
+    altController.leftBumper().onTrue(shooter.runIndex(-15));
     altController.leftBumper().onFalse(shooter.runIndex(0));
-    altController.leftTrigger().onTrue(shooter.runIndex(12));
+    altController.leftTrigger().onTrue(shooter.runIndex(15));
     altController.leftTrigger().onFalse(shooter.runIndex(0));
   }
 

diff --git a/src/main/java/frc/robot/commands/Autos.java b/src/main/java/frc/robot/commands/Autos.java
@@ -77,7 +77,7 @@ public static Command runSpeakerShot(Shooter shooter) {
             shooter.runSetWristPosition(ShooterPosition.SPEAKER),
             shooter.runShooter(23),
             new WaitCommand(1.5),
-            shooter.runIndex(-12),
+            shooter.runIndex(-15),
             new WaitCommand(1.7),
             shooter.runIndex(0),
             shooter.runShooter(0),

diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterPosition.java b/src/main/java/frc/robot/subsystems/shooter/ShooterPosition.java
@@ -1,10 +1,10 @@
 package frc.robot.subsystems.shooter;
 
 public enum ShooterPosition {
-    FLAT("FLAT", 19.5),
-    AMP("AMP", 95), // prev 108.7 prev prev 90
-    SPEAKER("SPEAKER", 66), // 62.9 -> 64 -> 66
-    SOURCE("SOURCE", 49);
+    FLAT("FLAT", 19.5 - 1),
+    AMP("AMP", 95 - 1), // prev 108.7 prev prev 90 now 95
+    SPEAKER("SPEAKER", 62.9 - 1), // 62.9 -> 64 -> 66
+    SOURCE("SOURCE", 49 - 1);
     // amp or speaker shooting method adjusted if needed could work for trap
 
     public final double position;