shooter changes

RegisJesuitRobotics · Feb 21, 2024 · 169b6f7 · 169b6f7
1 parent 8c975b3
commit 169b6f7
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Showing 5 changed files with 22 additions and 16 deletions.
diff --git a/src/main/java/frc/robot/BuildConstants.java b/src/main/java/frc/robot/BuildConstants.java
@@ -7,12 +7,12 @@ public final class BuildConstants {
   public static final String MAVEN_GROUP = "";
   public static final String MAVEN_NAME = "Competition2024";
   public static final String VERSION = "unspecified";
-  public static final int GIT_REVISION = 114;
-  public static final String GIT_SHA = "1777ba50499098176f582e0eae64cdea9e35c8ab";
-  public static final String GIT_DATE = "2024-02-20 16:34:07 MST";
+  public static final int GIT_REVISION = 115;
+  public static final String GIT_SHA = "8c975b34b659b8bf7369f379e803422cd3dae397";
+  public static final String GIT_DATE = "2024-02-21 08:03:57 MST";
   public static final String GIT_BRANCH = "workingongettingready";
-  public static final String BUILD_DATE = "2024-02-20 19:36:55 MST";
-  public static final long BUILD_UNIX_TIME = 1708483015286L;
+  public static final String BUILD_DATE = "2024-02-21 09:21:03 MST";
+  public static final long BUILD_UNIX_TIME = 1708532463510L;
   public static final int DIRTY = 1;
 
   private BuildConstants(){}

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -181,10 +181,7 @@ private void configureOperatorBindings() {
     //    operatorController
     //        .rightStick()
     //        .whileTrue(elevatorSubsystem.runElevatorCommand(operatorController.getRightY()));
-    operatorController
-        .rightTrigger()
-        .onTrue(
-            new ShootAtAngleCommand(
+    operatorController.rightTrigger().onTrue(new ShootAtAngleCommand(
                 shooterSubsystem, transportSubsystem, wristSubsystem, SHOOTING_ANGLE));
     operatorController
         .leftTrigger()
@@ -200,6 +197,9 @@ private void configureOperatorBindings() {
         .onTrue(
             new AmpPlaceCommand(
                 elevatorSubsystem, wristSubsystem, shooterSubsystem, transportSubsystem));
+    operatorController.share().whileTrue(Commands.parallel(elevatorSubsystem.setElevatorPositionCommand(0), slapdownSubsystem.setFeederVoltageCommand(6), intakeSubsystem.setIntakeVoltageCommand(6), transportSubsystem.setVoltageCommand(6.0).until(transportSubsystem::atSensor).andThen(transportSubsystem.setVoltageCommand(0.0))));
+//    operatorController.share().onTrue(transportSubsystem.setVoltageCommand(6.0).until(transportSubsystem::atSensor));
+    operatorController.options().whileTrue(Commands.parallel(elevatorSubsystem.setElevatorPositionCommand(Units.inchesToMeters(3)), shooterSubsystem.runVelocityCommand(3000.0/60), Commands.sequence(Commands.waitUntil(() -> shooterSubsystem.getVelocity() >= Units.rotationsToRadians(3000.0/60)), transportSubsystem.setVoltageCommand(10.0))));
   }
 
   private void configureDriving() {

diff --git a/src/main/java/frc/robot/subsystems/elevator/ElevatorSubsystem.java b/src/main/java/frc/robot/subsystems/elevator/ElevatorSubsystem.java
@@ -118,7 +118,7 @@ private void configMotors() {
   }
 
   public void atBottomLimit() {
-    if (bottomLimit.get()) {
+    if (!bottomLimit.get()) {
       elevatorEncoder.setPosition(0);
     }
   }
@@ -175,15 +175,15 @@ public Command sysIdDynamic(SysIdRoutine.Direction direction) {
   @Override
   public void periodic() {
     // TODO: make this or elegant
-    if (bottomLimit.get()) {
+    if (!bottomLimit.get()) {
       elevatorEncoder.setPosition(0.0);
     }
     logValues();
   }
 
   private void logValues() {
     elevatorMotor.logValues();
-    bottomLimitEntry.append(bottomLimit.get());
+    bottomLimitEntry.append(!bottomLimit.get());
 
     if (FF_GAINS.hasChanged()) {
       feedforward = FF_GAINS.createElevatorFeedforward();

diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterSubsystem.java b/src/main/java/frc/robot/subsystems/shooter/ShooterSubsystem.java
@@ -7,6 +7,7 @@
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.RelativeEncoder;
 import edu.wpi.first.math.controller.SimpleMotorFeedforward;
+import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
@@ -43,7 +44,7 @@ public class ShooterSubsystem extends SubsystemBase {
   private final SimpleMotorFeedforward feedforward = SHOOTER_FF_GAINS.createFeedforward();
 
   private final DoubleTelemetryEntry flyVoltageReq =
-      new DoubleTelemetryEntry("/shooter/voltageReq", false);
+      new DoubleTelemetryEntry("/shooter/voltageReq", true);
   private final EventTelemetryEntry shooterEventEntry = new EventTelemetryEntry("/shooter/events");
 
   public ShooterSubsystem() {
@@ -115,16 +116,21 @@ public void setVoltage(double voltage) {
     flywheelMotor.setVoltage(voltage);
   }
 
+  public double getVelocity() {
+    return flywheelEncoder.getVelocity();
+  }
+
   public Command setVoltageCommand(double voltage) {
     return this.run(() -> setVoltage(voltage));
   }
 
   public Command runVelocityCommand(double setpointRotationsPerSecond) {
+    double radiansPerSecond = Units.rotationsToRadians(setpointRotationsPerSecond);
     return this.run(
         () ->
             setVoltage(
-                pidController.calculate(flywheelEncoder.getVelocity(), setpointRotationsPerSecond)
-                    + feedforward.calculate(setpointRotationsPerSecond)));
+                pidController.calculate(flywheelEncoder.getVelocity(), radiansPerSecond)
+                    + feedforward.calculate(radiansPerSecond)));
   }
 
   public Command sysIdQuasistatic(SysIdRoutine.Direction direction) {

diff --git a/src/main/java/frc/robot/subsystems/transport/TransportSubsystem.java b/src/main/java/frc/robot/subsystems/transport/TransportSubsystem.java
@@ -86,7 +86,7 @@ public void configMotor() {
   }
 
   public boolean atSensor() {
-    return shooterSensor.get();
+    return !shooterSensor.get();
   }
 
   public Command runTransportOutCommand() {