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RegisJesuitRobotics · Mar 3, 2024 · 716dd02 · 716dd02
1 parent 6bd149b
commit 716dd02
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Showing 3 changed files with 19 additions and 9 deletions.
diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java
@@ -105,6 +105,15 @@ public Autos(
     autoChooser.addOption("drive qr", driveSubsystem.driveQuasistaticSysIDCommand(Direction.kReverse));
     autoChooser.addOption("drive df", driveSubsystem.driveDynamicSysIDCommand(Direction.kForward));
     autoChooser.addOption("drive dr", driveSubsystem.driveDynamicSysIDCommand(Direction.kReverse));
+
+    autoChooser.addOption("Shooter qf", shooterSubsystem.sysIdQuasistatic(Direction.kForward));
+        autoChooser.addOption("Shooter qr", shooterSubsystem.sysIdQuasistatic(Direction.kReverse));
+            autoChooser.addOption("Shooter df", shooterSubsystem.sysIdDynamic(Direction.kForward));
+                        autoChooser.addOption("Shooter dr", shooterSubsystem.sysIdDynamic(Direction.kReverse));
+
+
+
+
   }
 
   public SendableChooser<Command> getAutoChooser() {

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -5,6 +5,7 @@
 import edu.wpi.first.math.geometry.Transform3d;
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.util.Units;
+import edu.wpi.first.units.Unit;
 import frc.robot.telemetry.tunable.gains.TunableArmElevatorFFGains;
 import frc.robot.telemetry.tunable.gains.TunableFFGains;
 import frc.robot.telemetry.tunable.gains.TunablePIDGains;
@@ -184,20 +185,20 @@ private SwerveConstants() {}
             STEER_POSITION_PID_GAINS,
             STEER_VELOCITY_FF_GAINS);
 
-    public static final SwerveModuleConfiguration FRONT_LEFT_MODULE_CONFIGURATION =
-        new SwerveModuleConfiguration(
-            12, 8, 17, true, false, 2.43, true, SHARED_SWERVE_MODULE_CONFIGURATION);
     public static final SwerveModuleConfiguration FRONT_RIGHT_MODULE_CONFIGURATION =
         new SwerveModuleConfiguration(
-            13, 5, 18, true, false, 0.34, true, SHARED_SWERVE_MODULE_CONFIGURATION);
-
-    public static final SwerveModuleConfiguration BACK_LEFT_MODULE_CONFIGURATION =
+            12, 8, 17, true, false, 2.462, true, SHARED_SWERVE_MODULE_CONFIGURATION);
+    public static final SwerveModuleConfiguration FRONT_LEFT_MODULE_CONFIGURATION =
         new SwerveModuleConfiguration(
-            14, 10, 19, true, false, 0.54, true, SHARED_SWERVE_MODULE_CONFIGURATION);
+            13, 5, 18, false, false, 0.3497+Units.degreesToRadians(180), true, SHARED_SWERVE_MODULE_CONFIGURATION);
 
     public static final SwerveModuleConfiguration BACK_RIGHT_MODULE_CONFIGURATION =
         new SwerveModuleConfiguration(
-            15, 3, 20, true, false, 0.73, true, SHARED_SWERVE_MODULE_CONFIGURATION);
+            14, 10, 19, true, false, 0.486, true, SHARED_SWERVE_MODULE_CONFIGURATION);
+
+    public static final SwerveModuleConfiguration BACK_LEFT_MODULE_CONFIGURATION =
+        new SwerveModuleConfiguration(
+            15, 3, 20, true,false, 0.712, true, SHARED_SWERVE_MODULE_CONFIGURATION);
   }
 
   public static class AutoConstants {

diff --git a/src/main/java/frc/robot/commands/ScoringCommands.java b/src/main/java/frc/robot/commands/ScoringCommands.java
@@ -16,7 +16,7 @@ public static Command shooterInToleranceCommand(ShooterSubsystem shooterSubsyste
 
   public static Command shootSetpointCloseSpeakerCommand(ShooterSubsystem shooterSubsystem) {
 //    return shooterSubsystem.runVelocityCommand(Units.rotationsPerMinuteToRadiansPerSecond(10000.0));
-    return shooterSubsystem.setVoltageCommand(10);
+    return shooterSubsystem.runVelocityCommand(1000.0);
   }