changed trim

Team334 · Apr 5, 2024 · 9e92f40 · 9e92f40
1 parent 3994677
commit 9e92f40
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Showing 3 changed files with 20 additions and 4 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -175,6 +175,14 @@ private void configureBindings() {
     _operatorController.triangle().whileTrue(new FeedActuate(_intakeSubsystem, ActuatorState.STOWED, FeedMode.OUTTAKE));
     _operatorController.cross().whileTrue(new FeedActuate(_intakeSubsystem, ActuatorState.STOWED, FeedMode.INTAKE));
 
+    _operatorController.povUp().whileTrue(
+      Commands.run(() -> {
+        _intakeSubsystem.actuate(-0.08);
+      }, _intakeSubsystem).handleInterrupt(
+        () -> { _intakeSubsystem.actuate(0); _intakeSubsystem.resetActuator(); } 
+      )
+    );
+
     // driver bindings
     _driveController.L1().onTrue(Commands.runOnce(_swerveSubsystem::toggleSpeed, _swerveSubsystem));
     _driveController.R1().onTrue(Commands.runOnce(() -> _swerveSubsystem.fieldOriented = !_swerveSubsystem.fieldOriented, _swerveSubsystem));
@@ -206,6 +214,10 @@ private void configureBindings() {
       }
     }, _swerveSubsystem));
 
+    _driveController.povDown().onTrue(Commands.runOnce(() -> {
+      _swerveSubsystem.resetGyro(180);
+    }, _swerveSubsystem));
+
     _driveController.R3().whileTrue(new NoteAlign(
       _swerveSubsystem,
       _visionSubsystem,

diff --git a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java
@@ -48,7 +48,7 @@ public IntakeSubsystem() {
     _actuatorMotor = new CANSparkMax(Constants.CAN.INTAKE_ACTUATOR, MotorType.kBrushless);
 
     _actuatorEncoder = _actuatorMotor.getEncoder();
-    _actuatorEncoder.setPosition(0);
+    resetActuator();
 
     _actuatorController.setTolerance(0.5);
 
@@ -60,8 +60,8 @@ public IntakeSubsystem() {
     _actuatorMotor.setSoftLimit(SoftLimitDirection.kForward, Constants.Encoders.INTAKE_OUT);
     _actuatorMotor.setSoftLimit(SoftLimitDirection.kReverse, Constants.Encoders.INTAKE_STOWED);
 
-    _actuatorMotor.enableSoftLimit(SoftLimitDirection.kForward, true);
-    _actuatorMotor.enableSoftLimit(SoftLimitDirection.kReverse, true);
+    _actuatorMotor.enableSoftLimit(SoftLimitDirection.kForward, false);
+    _actuatorMotor.enableSoftLimit(SoftLimitDirection.kReverse, false);
   }
 
   public boolean hasNote() {
@@ -86,6 +86,10 @@ public void setHasNoteAuton(boolean hasNoteAuton) {
     _hasNoteAuton = hasNoteAuton;
   }
 
+  public void resetActuator() {
+    _actuatorEncoder.setPosition(0);
+  }
+
   /**
    * Returns true if the actuator is at the last desired state.
    */

diff --git a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java
@@ -54,7 +54,7 @@ public class ShooterSubsystem extends SubsystemBase {
 
   private final Timer _revTimer = new Timer();
 
-  private double _shooterTrim = 0;
+  private double _shooterTrim = 5;
 
   private boolean _holdNote = false;