End of competition

Author: CalebHeydon

src/main/java/org/aluminati3555/frc2020/auto/actions/ActionAlignWithVision.java

@@ -39,7 +39,7 @@ public class ActionAlignWithVision implements AluminatiAutoTask {
      * Initializes the PID controller
      */
     public static final void initialize() {
-        controller = new AluminatiTuneablePIDController(5809, 0.2, 0, 0, 400, 1, 0.6, 0);
+        controller = new AluminatiTuneablePIDController(5809, 0.05, 0, 0, 400, 1, 0.6, 0);
     }
 
     private DriveSystem driveSystem;

src/main/java/org/aluminati3555/frc2020/auto/actions/ActionTurnToHeading.java

@@ -40,7 +40,7 @@ public class ActionTurnToHeading implements AluminatiAutoTask {
      * Initializes the PID controller
      */
     public static final void initialize() {
-        controller = new AluminatiPIDController(0.2, 0, 0, 400, 1, 1, 0);
+        controller = new AluminatiPIDController(0.05, 0, 0, 400, 1, 0.6, 0);
     }
 
     private DriveSystem driveSystem;

src/main/java/org/aluminati3555/frc2020/auto/modes/Mode3PowerCell.java

@@ -77,10 +77,10 @@ public Mode3PowerCell(AluminatiLimelight limelight, DriveSystem driveSystem,
         taskList.add(new ActionSetLimelightPipeline(limelight, 1));
 
         // Shoot three power cells
-        taskList.add(new ActionExtendHood(shooterSystem));
+        //taskList.add(new ActionExtendHood(shooterSystem));
         taskList.add(new ActionAlignWithVision(driveSystem, limelight));
         taskList.add(new ActionShootPowerCell(limelight, shooterSystem, magazineSystem, 3));
-        taskList.add(new ActionRetractHood(shooterSystem));
+        //taskList.add(new ActionRetractHood(shooterSystem));
 
         // Set the limelight to the driver pipeline
         taskList.add(new ActionSetLimelightPipeline(limelight, 0));

src/main/java/org/aluminati3555/frc2020/auto/modes/Mode3PowerCellGoForward.java

@@ -117,10 +117,10 @@ public Mode3PowerCellGoForward(RobotState robotState, AluminatiLimelight limelig
         taskList.add(new ActionSetLimelightPipeline(limelight, 1));
 
         // Shoot three power cells
-        taskList.add(new ActionExtendHood(shooterSystem));
+        //taskList.add(new ActionExtendHood(shooterSystem));
         taskList.add(new ActionAlignWithVision(driveSystem, limelight));
         taskList.add(new ActionShootPowerCell(limelight, shooterSystem, magazineSystem, 3));
-        taskList.add(new ActionRetractHood(shooterSystem));
+        //taskList.add(new ActionRetractHood(shooterSystem));
 
         // Set the limelight to the driver pipeline
         taskList.add(new ActionSetLimelightPipeline(limelight, 0));

src/main/java/org/aluminati3555/frc2020/auto/modes/Mode3PowerCellPositionTrenchRun.java

@@ -117,10 +117,10 @@ public Mode3PowerCellPositionTrenchRun(RobotState robotState, AluminatiLimelight
         taskList.add(new ActionSetLimelightPipeline(limelight, 1));
 
         // Shoot three power cells
-        taskList.add(new ActionExtendHood(shooterSystem));
+        //taskList.add(new ActionExtendHood(shooterSystem));
         taskList.add(new ActionAlignWithVision(driveSystem, limelight));
         taskList.add(new ActionShootPowerCell(limelight, shooterSystem, magazineSystem, 3));
-        taskList.add(new ActionRetractHood(shooterSystem));
+        //taskList.add(new ActionRetractHood(shooterSystem));
 
         // Set the limelight to the driver pipeline
         taskList.add(new ActionSetLimelightPipeline(limelight, 0));

src/main/java/org/aluminati3555/frc2020/systems/IntakeSystem.java

@@ -37,6 +37,8 @@
  * @author Caleb Heydon
  */
 public class IntakeSystem implements AluminatiSystem {
+    private static final int INTAKE_CURRENT_LIMIT = 50;
+
     private AluminatiTalonSRX intakeMotor;
     private AluminatiSolenoid extenderSolenoid;
 
@@ -152,6 +154,15 @@ public void update(double timestamp, SystemMode mode) {
     public IntakeSystem(AluminatiTalonSRX intakeMotor, AluminatiSolenoid extenderSolenoid,
             AluminatiXboxController operatorController, MagazineSystem magazineSystem, RobotFaults robotFaults) {
         this.intakeMotor = intakeMotor;
+
+        // Configure current limit
+        this.intakeMotor.configPeakCurrentDuration(500);
+        this.intakeMotor.configPeakCurrentLimit(INTAKE_CURRENT_LIMIT);
+        this.intakeMotor.configContinuousCurrentLimit(INTAKE_CURRENT_LIMIT);
+        this.intakeMotor.enableCurrentLimit(true);
+
+        this.intakeMotor.configOpenloopRamp(0.1);
+
         this.extenderSolenoid = extenderSolenoid;
 
         this.operatorController = operatorController;

src/main/java/org/aluminati3555/frc2020/systems/ShooterSystem.java

@@ -208,6 +208,13 @@ public void update(double timestamp, SystemMode mode) {
         }
 
         if (mode == SystemMode.OPERATOR_CONTROLLED) {
+            // Do hood control
+            if (operatorController.getY(Hand.kLeft) >= 0.5) {
+                retractHood();
+            } else {
+                extendHood();
+            }
+
             if (driverController.getTriggerAxis(Hand.kLeft) >= 0.5) {
                 // Driver wants the robot to align with vision target and flywheel to get up to
                 // speed
@@ -234,9 +241,6 @@ public void update(double timestamp, SystemMode mode) {
                     driveSystem.setVisionTracking(false);
                 }
 
-                // Extend hood
-                extendHood();
-
                 // Set flywheel speed
                 double targetHeight = limelight.getVertical();
                 // double rpm = limelight.hasTarget() ? ShooterUtil.calculateRPM(targetHeight) :
@@ -259,9 +263,6 @@ public void update(double timestamp, SystemMode mode) {
 
                 wasTracking = false;
 
-                // Extend hood to mid position
-                extendHoodMid();
-
                 // Set flywheel speed
                 set(SHORT_SHOT_RPM);
 
@@ -281,9 +282,6 @@ public void update(double timestamp, SystemMode mode) {
                 // Stop feeding power cells
                 magazineSystem.stopFeedingPowerCells();
 
-                // Retract hood
-                retractHood();
-
                 // Disable flywheel
                 stop();
             }
@@ -349,7 +347,7 @@ public void update(double timestamp, SystemMode mode) {
                     break;
                 case NONE:
                     if (hoodPosition == HoodPosition.DOWN) {
-                        hoodMotor.set(0.02);
+                        hoodMotor.set(0.05);
                     } else {
                         hoodMotor.set(0);
                     }
@@ -375,10 +373,9 @@ public ShooterSystem(AluminatiMotorGroup motorGroup, AluminatiSpark hoodMotor,
 
         this.robotFaults = robotFaults;
 
-        this.hoodPosition = HoodPosition.UNKNOWN;
+        this.hoodPosition = HoodPosition.UP;
         this.hoodAction = HoodAction.NONE;
         this.hoodActionList = new ArrayList<HoodAction>();
-        this.hoodActionList.add(HoodAction.RETRACT);
 
         this.wasTracking = false;
 
@@ -414,7 +411,7 @@ protected void update(TuningData data) {
         this.motorGroup.getMasterTalon().configContinuousCurrentLimit(SHOOTER_CURRENT_LIMIT);
         this.motorGroup.getMasterTalon().enableCurrentLimit(true);
 
-        this.turnController = new AluminatiTuneablePIDController(5808, 0.2, 0, 0, 400, 1, 1, 0);
+        this.turnController = new AluminatiTuneablePIDController(5808, 0.05, 0, 0, 400, 1, 0.6, 0);
     }
 
     public enum HoodPosition {