Merge pull request #30 from OakvilleDynamics/StlFrc2023Changes

Spotless, constant tweaks
OakvilleDynamics · Mar 30, 2023 · 6ed91a5 · 6ed91a5
2 parents 24ebd4e + 72396cf
commit 6ed91a5
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Showing 5 changed files with 26 additions and 148 deletions.
diff --git a/src/main/deploy/pathplanner/Blue April ID 6.path b/src/main/deploy/pathplanner/Blue April ID 6.path
@@ -3,12 +3,12 @@
     {
       "anchorPoint": {
         "x": 2.2722777360448347,
-        "y": 4.640616302509201
+        "y": 4.6
       },
       "prevControl": null,
       "nextControl": {
-        "x": 3.323520788811873,
-        "y": 4.640616302509201
+        "x": 3.4713134579874785,
+        "y": 4.6
       },
       "holonomicAngle": 0,
       "isReversal": false,
@@ -24,12 +24,12 @@
     },
     {
       "anchorPoint": {
-        "x": 6.152486773058653,
-        "y": 4.612189862677599
+        "x": 4.375834283583461,
+        "y": 4.6
       },
       "prevControl": {
-        "x": 4.880403590594416,
-        "y": 4.612189862677599
+        "x": 3.103751101119224,
+        "y": 4.6
       },
       "nextControl": null,
       "holonomicAngle": 0,

diff --git a/src/main/deploy/pathplanner/Blue April ID 7.path b/src/main/deploy/pathplanner/Blue April ID 7.path
@@ -2,13 +2,13 @@
   "waypoints": [
     {
       "anchorPoint": {
-        "x": 2.4073033252449494,
-        "y": 2.7573646636654985
+        "x": 2.23432929246438,
+        "y": 2.7646751926236828
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.314497384778828,
-        "y": 2.7573646636654985
+        "x": 2.3271352329305013,
+        "y": 2.7646751926236828
       },
       "holonomicAngle": 0,
       "isReversal": false,
@@ -24,141 +24,12 @@
     },
     {
       "anchorPoint": {
-        "x": 2.0377596074341096,
-        "y": 2.7644712736234
+        "x": 5.763921942879126,
+        "y": 3.1143962992702807
       },
       "prevControl": {
-        "x": 2.265171126086934,
-        "y": 2.7644712736234
-      },
-      "nextControl": {
-        "x": 1.8382675594375457,
-        "y": 2.7644712736234
-      },
-      "holonomicAngle": 0,
-      "isReversal": false,
-      "velOverride": null,
-      "isLocked": false,
-      "isStopPoint": true,
-      "stopEvent": {
-        "names": [
-          "PlaceObject"
-        ],
-        "executionBehavior": "sequential",
-        "waitBehavior": "none",
-        "waitTime": 0
-      }
-    },
-    {
-      "anchorPoint": {
-        "x": 3.9074449816756784,
-        "y": 2.7666461500780146
-      },
-      "prevControl": {
-        "x": 3.4732948189300643,
-        "y": 2.7644712736234
-      },
-      "nextControl": {
-        "x": 4.907432434352697,
-        "y": 2.771655590019217
-      },
-      "holonomicAngle": 0,
-      "isReversal": false,
-      "velOverride": null,
-      "isLocked": false,
-      "isStopPoint": true,
-      "stopEvent": {
-        "names": [],
-        "executionBehavior": "sequential",
-        "waitBehavior": "none",
-        "waitTime": 0
-      }
-    },
-    {
-      "anchorPoint": {
-        "x": 5.534136579701731,
-        "y": 2.764785233499039
-      },
-      "prevControl": {
-        "x": 3.6491602930461453,
-        "y": 2.766172914994791
-      },
-      "nextControl": {
-        "x": 5.960608304195333,
-        "y": 2.7644712736234
-      },
-      "holonomicAngle": 0,
-      "isReversal": false,
-      "velOverride": null,
-      "isLocked": false,
-      "isStopPoint": false,
-      "stopEvent": {
-        "names": [],
-        "executionBehavior": "parallel",
-        "waitBehavior": "none",
-        "waitTime": 0
-      }
-    },
-    {
-      "anchorPoint": {
-        "x": 6.372791681753577,
-        "y": 3.006096012192025
-      },
-      "prevControl": {
-        "x": 6.292344208388287,
-        "y": 2.9706657778083483
-      },
-      "nextControl": {
-        "x": 9.115943125503273,
-        "y": 4.2142197050351555
-      },
-      "holonomicAngle": 0,
-      "isReversal": false,
-      "velOverride": null,
-      "isLocked": false,
-      "isStopPoint": true,
-      "stopEvent": {
-        "names": [
-          "PickUpObject"
-        ],
-        "executionBehavior": "parallel",
-        "waitBehavior": "none",
-        "waitTime": 0
-      }
-    },
-    {
-      "anchorPoint": {
-        "x": 6.657056080069608,
-        "y": 2.7431514437496967
-      },
-      "prevControl": {
-        "x": 7.794469765254116,
-        "y": 2.7553905489421924
-      },
-      "nextControl": {
-        "x": 5.519642394885094,
-        "y": 2.730912338557201
-      },
-      "holonomicAngle": 0,
-      "isReversal": false,
-      "velOverride": null,
-      "isLocked": false,
-      "isStopPoint": false,
-      "stopEvent": {
-        "names": [],
-        "executionBehavior": "parallel",
-        "waitBehavior": "none",
-        "waitTime": 0
-      }
-    },
-    {
-      "anchorPoint": {
-        "x": 3.9636509060252174,
-        "y": 2.7360448337917966
-      },
-      "prevControl": {
-        "x": 4.780911051183807,
-        "y": 2.7502580537075985
+        "x": 5.012669195267914,
+        "y": 2.5962909560901344
       },
       "nextControl": null,
       "holonomicAngle": 0,

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -20,7 +20,7 @@ public final class Constants {
   public static final int joystickButtonBackJackOn = 8;
   public static final int joystickButtonFrontJackOff = 2;
   public static final int joystickButtonBackJackOff = 10;
-  // JACKS AND CLAW ARE SWITCHED IN SOLENOIDS, I HAVE SWAPPED THE JOYSTICK CONTROLS 
+  // JACKS AND CLAW ARE SWITCHED IN SOLENOIDS, I HAVE SWAPPED THE JOYSTICK CONTROLS
   // TO BE THE CORRECT BUTTONS (TEMPORARY CHANGE)
 
   // Constants for claw button assignments
@@ -76,7 +76,7 @@ public final class Constants {
   public static final double motorFeedAccelerationGain = 0.0;
 
   // PIDController Coefficients, left and right value are usually the same
-  public static final double pidControllerProportionalCoefficient = 0.0;
+  public static final double pidControllerProportionalCoefficient = 1.0;
   public static final double pidControllerIntegralCoefficient = 0.0;
   public static final double pidControllerDerivativeCoefficient = 0.0;
 
@@ -156,7 +156,8 @@ public static enum AutoPathChoice {
     Red3,
     Blue6,
     Blue7,
-    Blue8, EmergencyPCharge
+    Blue8,
+    EmergencyPCharge
   }
 
   public static final String PlaceObjectMarker = "PlaceObject";

diff --git a/src/main/java/frc/robot/commands/Jacks.java b/src/main/java/frc/robot/commands/Jacks.java
@@ -35,7 +35,8 @@ public void execute() {
       m_Jacks.frontOff();
       System.out.println("Jacks - front Off");
     }
-    // solenoids for jacks and claw are swapped, so we changed the controls for jacks and claw (constants)
+    // solenoids for jacks and claw are swapped, so we changed the controls for jacks and claw
+    // (constants)
 
     if (controllerJoystick.getRawButton(Constants.joystickButtonBackJackOn) == true) {
       m_Jacks.backOn();

diff --git a/src/main/java/frc/robot/subsystems/Arm.java b/src/main/java/frc/robot/subsystems/Arm.java
@@ -6,6 +6,7 @@
 
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkMax.ControlType;
+import com.revrobotics.CANSparkMax.IdleMode;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 import com.revrobotics.RelativeEncoder;
 import com.revrobotics.SparkMaxPIDController;
@@ -47,6 +48,9 @@ public Arm() {
     topArm.setInverted(Constants.topArmInverted);
     retractArm();
 
+    bottomArm.setIdleMode(IdleMode.kBrake);
+    topArm.setIdleMode(IdleMode.kBrake);
+
     System.out.println("Arm is retracted");
 
     m_bottomEncoder = bottomArm.getEncoder(Type.kQuadrature, 8192);
@@ -80,6 +84,7 @@ public void bottomArmUp() {
     // Check for if the top arm has cleared the superstructure before allowing the bottom arm
     // to move
     // if (m_topEncoder.getPosition() > Constants.topArmThreshold) {
+
     bottomArm.set(Constants.bottomArmSpeed);
     // }
   }