From 3e86bdc4a03f722de5948c36cb5a4fda3ec38170 Mon Sep 17 00:00:00 2001 From: Andrew Chen Date: Mon, 11 Mar 2024 08:22:19 -0400 Subject: [PATCH] More competition updates - increase index speed - adjust arm angles to moved encoder --- networktables.json | 112 ------------------ networktables.json.bck | 112 ++++++++++++++++++ src/main/java/frc/robot/RobotContainer.java | 4 +- src/main/java/frc/robot/commands/Autos.java | 2 +- .../subsystems/shooter/ShooterPosition.java | 8 +- 5 files changed, 119 insertions(+), 119 deletions(-) diff --git a/networktables.json b/networktables.json index 1069985..2440d3b 100644 --- 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 index 2440d3b..1069985 100644 --- 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 index 6ee50aa..c945ed9 100644 --- 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 index b7d6631..ff6ecb6 100644 --- 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 index 68e7a7a..863614a 100644 --- 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;