cycle and auton tests

Team334 · Mar 26, 2024 · e7cc04d · e7cc04d
1 parent 4fcdfef
commit e7cc04d
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Showing 11 changed files with 34 additions and 34 deletions.
diff --git a/src/main/deploy/pathplanner/autos/3 Piece Auton Line.auto b/src/main/deploy/pathplanner/autos/3 Piece Auton Line.auto
@@ -26,7 +26,7 @@
         {
           "type": "named",
           "data": {
-            "name": "actuateIn"
+            "name": "actuateInFast"
           }
         },
         {
@@ -42,9 +42,9 @@
           }
         },
         {
-          "type": "path",
+          "type": "named",
           "data": {
-            "pathName": "l shoot top"
+            "name": "actuateInFast"
           }
         },
         {

diff --git a/src/main/deploy/pathplanner/autos/4 Piece Auton Line.auto b/src/main/deploy/pathplanner/autos/4 Piece Auton Line.auto
@@ -26,7 +26,7 @@
         {
           "type": "named",
           "data": {
-            "name": "actuateIn"
+            "name": "actuateInFast"
           }
         },
         {
@@ -42,9 +42,9 @@
           }
         },
         {
-          "type": "path",
+          "type": "named",
           "data": {
-            "pathName": "l shoot top"
+            "name": "actuateInFast"
           }
         },
         {

diff --git a/src/main/deploy/pathplanner/paths/l get top.path b/src/main/deploy/pathplanner/paths/l get top.path
@@ -8,20 +8,20 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 1.8922966222509021,
-        "y": 6.05543748727137
+        "x": 1.585543742516057,
+        "y": 5.89310207191843
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 2.45,
-        "y": 7.02
+        "x": 2.2598788054718972,
+        "y": 6.963242497913567
       },
       "prevControl": {
-        "x": 2.17799714878709,
-        "y": 6.776367426608728
+        "x": 1.5420171268913974,
+        "y": 6.715912043252659
       },
       "nextControl": null,
       "isLocked": false,
@@ -33,7 +33,7 @@
   "eventMarkers": [
     {
       "name": "New Event Marker",
-      "waypointRelativePos": 0.2,
+      "waypointRelativePos": 0.0,
       "command": {
         "type": "sequential",
         "data": {

diff --git a/src/main/deploy/pathplanner/paths/l get topcen.path b/src/main/deploy/pathplanner/paths/l get topcen.path
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 2.41,
-        "y": 5.51
+        "x": 2.26,
+        "y": 6.96
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.3074229932249173,
-        "y": 7.220113178969543
+        "x": 3.989694836537385,
+        "y": 7.183134366264898
       },
       "isLocked": false,
       "linkedName": null
@@ -20,8 +20,8 @@
         "y": 7.432741351973637
       },
       "prevControl": {
-        "x": 6.62469937552543,
-        "y": 7.441986055147727
+        "x": 6.525781051566957,
+        "y": 7.315069487277998
       },
       "nextControl": null,
       "isLocked": false,

diff --git a/src/main/deploy/pathplanner/paths/l shoot topcen.path b/src/main/deploy/pathplanner/paths/l shoot topcen.path
@@ -8,20 +8,20 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 6.343113382623161,
-        "y": 7.3837764841295455
+        "x": 6.305889183206938,
+        "y": 7.3443884030625215
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 2.41,
-        "y": 5.51
+        "x": 2.421132842265685,
+        "y": 6.933923582132878
       },
       "prevControl": {
-        "x": 2.2981782900502736,
-        "y": 7.506698977361919
+        "x": 4.019013752313219,
+        "y": 7.1391559925977
       },
       "nextControl": null,
       "isLocked": false,

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -73,7 +73,7 @@ public static class Speeds {
     public static final double INTAKE_FEED_SPEED = 0.6; // TODO: Get this
     public static final double OUTTAKE_FEED_SPEED = -0.4;
 
-    public static final double INTAKE_ACTUATE_MAX_SPEED = 0.6;
+    public static final double INTAKE_ACTUATE_MAX_SPEED = 0.4;
   }
 
   public static class Physical {
@@ -152,7 +152,7 @@ public static class Presets {
     public static final InterpolatingDoubleTreeMap SHOOTER_DISTANCE_ANGLE = new InterpolatingDoubleTreeMap();
 
     static {
-      SHOOTER_DISTANCE_ANGLE.put(1.359, 48.75);
+      SHOOTER_DISTANCE_ANGLE.put(0.735, 57.50);
       SHOOTER_DISTANCE_ANGLE.put(1.755, 43.78);
       SHOOTER_DISTANCE_ANGLE.put(1.823, 43.44);
       SHOOTER_DISTANCE_ANGLE.put(2.543, 38.15);
@@ -164,7 +164,7 @@ public static class Presets {
     public static final InterpolatingDoubleTreeMap ELEVATOR_DISTANCE_HEIGHT = new InterpolatingDoubleTreeMap();
 
     static {
-      ELEVATOR_DISTANCE_HEIGHT.put(1.359, 0.078);
+      ELEVATOR_DISTANCE_HEIGHT.put(0.735, 0.078);
       ELEVATOR_DISTANCE_HEIGHT.put(1.755, 0.061);
       ELEVATOR_DISTANCE_HEIGHT.put(1.823, 0.031);
       ELEVATOR_DISTANCE_HEIGHT.put(2.543, 0.024);

diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
@@ -44,7 +44,7 @@ public void robotInit() {
     PortForwarder.add(5801, "limelight.local", 5801);
     PortForwarder.add(5805, "limelight.local", 5805);
 
-    CameraServer.startAutomaticCapture(0);
+    // CameraServer.startAutomaticCapture(0);
     UtilFuncs.LoadField();
 
     // Instantiate our RobotContainer. This will perform all our button bindings,

diff --git a/src/main/java/frc/robot/commands/auto/AutonShoot.java b/src/main/java/frc/robot/commands/auto/AutonShoot.java
@@ -53,7 +53,7 @@ public AutonShoot(
         new ParallelCommandGroup(
           new SpinShooter(shooter, ShooterState.SHOOT, true).andThen(new WaitCommand(2)),
           new FeedActuate(intake, FeedMode.INTAKE).withTimeout(1)
-        ).onlyIf(() -> !canShoot),
+        ).onlyIf(() -> !canShoot).andThen(() -> canShoot = true),
 
         new AutoAim(swerve, shooter, elevator, leds)
       ),

diff --git a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java
@@ -47,7 +47,7 @@ public class ShooterSubsystem extends SubsystemBase {
 
   private final Debouncer _beamDebouncer = new Debouncer(0.3, DebounceType.kRising);
 
-  private double _shooterTrim = 1.55;
+  private double _shooterTrim = 3;
 
   private boolean _holdNote = false;
 

diff --git a/src/main/java/frc/robot/subsystems/SwerveDriveSubsystem.java b/src/main/java/frc/robot/subsystems/SwerveDriveSubsystem.java
@@ -85,7 +85,7 @@ public class SwerveDriveSubsystem extends SubsystemBase {
   /** A boolean for whether the swerve is field oriented or not. */
   public boolean fieldOriented = false;
 
-  private double _swerveTrim = 0;
+  private double _swerveTrim = 8;
 
   StructArrayPublisher<SwerveModuleState> publisher = NetworkTableInstance.getDefault()
       .getStructArrayTopic("MyStates", SwerveModuleState.struct).publish();

diff --git a/src/main/java/frc/robot/utils/SwerveModule.java b/src/main/java/frc/robot/utils/SwerveModule.java
@@ -70,8 +70,8 @@ public SwerveModule(String name, int driveMotorId, int rotationMotorId, int enco
 
     currentConfig.StatorCurrentLimit = 120;
 
-    currentConfig.SupplyCurrentLimitEnable = false;
-    currentConfig.StatorCurrentLimitEnable = false;
+    currentConfig.SupplyCurrentLimitEnable = true;
+    currentConfig.StatorCurrentLimitEnable = true;
 
     _driveMotor.getConfigurator().apply(currentConfig);
   }