change around states

Gongoliers · Apr 2, 2024 · 04cfcfe · 04cfcfe
1 parent ea96265
commit 04cfcfe
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Showing 5 changed files with 4 additions and 9 deletions.
diff --git a/simgui.json b/simgui.json
@@ -192,7 +192,7 @@
             0.0,
             0.8500000238418579
           ],
-          "height": 338,
+          "height": 0,
           "series": [
             {
               "color": [

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -86,6 +86,7 @@ private void configureBindings() {
 
     operatorController.a().onTrue(superstructure.ampPosition());
     operatorController.b().onTrue(superstructure.ampShoot());
+    operatorController.x().onTrue(superstructure.stow());
   }
 
   /**

diff --git a/src/main/java/frc/robot/shooter/ShooterConstants.java b/src/main/java/frc/robot/shooter/ShooterConstants.java
@@ -22,9 +22,6 @@ public static class SerializerConstants {
 
   /** Constants for the flywheel motor used in the shooter subsystem. */
   public static class FlywheelConstants {
-    /** Velocity to apply while idly spinning up in rotations per second. */
-    public static final double IDLE_VELOCITY = 2.5;
-
     /** Velocity to apply while shooting into the speaker in rotations per second. */
     public static final double SPEAKER_VELOCITY = 5.65;
 

diff --git a/src/main/java/frc/robot/superstructure/Superstructure.java b/src/main/java/frc/robot/superstructure/Superstructure.java
@@ -181,7 +181,7 @@ public Command intake() {
   }
 
   public Command idle() {
-    return to(SuperstructureState.IDLE);
+    return to(SuperstructureState.SPEAKER_SPIN);
   }
 
   public Command shoot() {

diff --git a/src/main/java/frc/robot/superstructure/SuperstructureState.java b/src/main/java/frc/robot/superstructure/SuperstructureState.java
@@ -26,10 +26,7 @@ public record SuperstructureState(
   public static final SuperstructureState INTAKE =
       new SuperstructureState(ShoulderAngleConstants.STOW, RollerConstants.INTAKE_VELOCITY, 0, false, SerializerConstants.INTAKE_VELOCITY);
 
-  public static final SuperstructureState IDLE =
-      new SuperstructureState(ShoulderAngleConstants.STOW, 0, FlywheelConstants.IDLE_VELOCITY, true, 0);
-
-  public static final SuperstructureState SPEAKER_SPIN = new SuperstructureState(ShoulderAngleConstants.STOW, 0, FlywheelConstants.SPEAKER_VELOCITY, false, 0);
+  public static final SuperstructureState SPEAKER_SPIN = new SuperstructureState(ShoulderAngleConstants.STOW, 0, FlywheelConstants.SPEAKER_VELOCITY, true, 0);
 
   public static final SuperstructureState SPEAKER_SHOOT = new SuperstructureState(ShoulderAngleConstants.STOW, 0, FlywheelConstants.SPEAKER_VELOCITY, false, SerializerConstants.SERIALIZE_VELOCITY);
-Original file line number
+Diff line change
@@ Expand Up / @@ -86,6 +86,7 @@ private void configureBindings() { @@
         operatorController.a().onTrue(superstructure.ampPosition());
         operatorController.b().onTrue(superstructure.ampShoot());
+        operatorController.x().onTrue(superstructure.stow());
       }
       /**
@@ Expand Down @@