Merge branch 'main' of https://github.com/Team334/R2024

Team334 · Mar 14, 2024 · ced063a · ced063a
2 parents 0141ff7 + c84f4d8
commit ced063a
Show file tree

Hide file tree

Showing 4 changed files with 6 additions and 4 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -54,7 +54,7 @@ public static class CAN {
 
   public static class Speeds {
     public static final double SWERVE_DRIVE_SLOW_COEFF = .6; // Default driving speed
-    public static final double SWERVE_DRIVE_FAST_COEFF = .85;
+    public static final double SWERVE_DRIVE_FAST_COEFF = 1;
 
     public static final double SWERVE_DRIVE_MAX_SPEED = 4; // meters per second
     public static final double SWERVE_DRIVE_MAX_ANGULAR_SPEED = Math.PI * 1; // TODO: Get this value
@@ -149,7 +149,7 @@ public static class Ports {
   // static field constants
   public static class FieldConstants {
     // z: 2.2456 (USE THIS)
-    public static final double SPEAKER_HEIGHT = 2.25;
+    public static final double SPEAKER_HEIGHT = 2.13;
 
     public static final double SHOOTER_SLOW_THRESHOLD = 2;
     public static final double TAG_DISTANCE_THRESHOLD = 2;

diff --git a/src/main/java/frc/robot/commands/shooter/AutonShoot.java b/src/main/java/frc/robot/commands/shooter/AutonShoot.java
@@ -44,7 +44,7 @@ public AutonShoot(
     addCommands(
       // Parallel command group that aims, revs, and squeezes note. ONLY APPLIES TO PRELOADED NOTE.
       new ParallelRaceGroup(
-        new SpinShooter(shooter, ShooterState.SHOOT).withTimeout(1.5),
+        new SpinShooter(shooter, ShooterState.SHOOT).withTimeout(3),
         new AutoAim(shooter, elevator, leds, swerve, Presets.CLOSE_SHOOTER_ANGLE, Presets.CLOSE_ELEVATOR_HEIGHT, this::headingPreset).withTimeout(2),
         new FeedActuate(intake, FeedMode.INTAKE).withTimeout(4)
       ).onlyIf(() -> !_preloadShot).andThen(() -> _preloadShot = true),

diff --git a/src/main/java/frc/robot/utils/SwerveModule.java b/src/main/java/frc/robot/utils/SwerveModule.java
@@ -7,12 +7,14 @@
 import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.math.controller.SimpleMotorFeedforward;
 import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
 import edu.wpi.first.math.kinematics.SwerveModulePosition;
 import edu.wpi.first.math.kinematics.SwerveModuleState;
 import edu.wpi.first.util.sendable.SendableBuilder;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import frc.robot.Constants;
 import frc.robot.Constants.PID;
+import frc.robot.Constants.Physical;
 import frc.robot.utils.configs.TalonFXConfig;
 
 /**

diff --git a/src/main/java/frc/robot/utils/configs/TalonFXConfig.java b/src/main/java/frc/robot/utils/configs/TalonFXConfig.java
@@ -43,7 +43,7 @@ public static TalonFXConfiguration configureFalcon(TalonFX falcon, boolean inver
     config.SoftwareLimitSwitch.ForwardSoftLimitEnable = false;
     config.SoftwareLimitSwitch.ReverseSoftLimitEnable = false;
 
-    // config.CurrentLimits.StatorCurrentLimit = 50; // TODO: Find
+    // config.CurrentLimits.StatorCurrentLimit = 80; // TODO: Find
 
     falcon.getConfigurator().apply(config);
     falcon.setPosition(0);