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Team841 · Oct 26, 2024 · 25ede0e · 25ede0e
1 parent 3cc4d09
commit 25ede0e
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Showing 6 changed files with 25 additions and 30 deletions.
diff --git a/src/main/java/com/team841/calliope/RobotContainer.java b/src/main/java/com/team841/calliope/RobotContainer.java
@@ -92,8 +92,6 @@ public static RobotContainer getInstance() {
     }
 
     public RobotContainer() {
-        registerNamedCommands();
-
         switch (RC.robotType) {
             default -> {
                 if (RC.robot == RC.Robot.CALLIOPE)
@@ -118,9 +116,12 @@ public RobotContainer() {
             }
         }
 
+        registerNamedCommands();
+
+
         if (RC.robot == RC.Robot.NIKE){
             this.sticksXbox = new CommandXboxController[1];
-            this.sticksPS5 = new CommandPS5Controller[1];
+            this.sticksPS5 = new CommandPS5Controller[0];
             this.sticksXbox[0] = new CommandXboxController(RC.Controllers.soloStick);
         } else {
             this.sticksPS5 = new CommandPS5Controller[1];
@@ -153,9 +154,9 @@ public RobotContainer() {
         this.drivetrain.setDefaultCommand(bioDrive);
 
         if (RC.robot == RC.Robot.NIKE){
-            configureDuoStick();
-        } else {
             configureSoloStick();
+        } else {
+            configureDuoStick();
         }
     }
 
@@ -205,8 +206,8 @@ private void configureSoloStick() {
                         new SequentialCommandGroup(
                                 new InstantCommand(indexer::stopIndexer),
                                 new InstantCommand(shooter::stopShooter)));
-        //sticksXbox[0].rightStick().whileTrue(new InstantCommand(hanger::ExtendHanger)).onFalse(new InstantCommand(hanger::StopHanger));
-        //sticksXbox[0].leftStick().whileTrue(new InstantCommand(hanger::RetractHanger)).onFalse(new InstantCommand(hanger::StopHanger));
+        sticksXbox[0].rightStick().whileTrue(new InstantCommand(hanger::ExtendHanger)).onFalse(new InstantCommand(hanger::StopHanger));
+        sticksXbox[0].leftStick().whileTrue(new InstantCommand(hanger::RetractHanger)).onFalse(new InstantCommand(hanger::StopHanger));
         sticksXbox[0].povCenter().whileTrue(new InstantCommand(hanger::StopHanger));
         sticksXbox[0].povLeft().whileTrue(new InstantCommand(hanger::toggleHanger));
         sticksXbox[0]

diff --git a/src/main/java/com/team841/calliope/drive/Drivetrain.java b/src/main/java/com/team841/calliope/drive/Drivetrain.java
@@ -42,12 +42,6 @@ public class Drivetrain extends SwerveDrivetrain implements Subsystem {
     StructPublisher<Pose2d> limelightPublisher = limelightTopic.publish();
     StructPublisher<Pose2d> ctrePublisher = ctreTopic.publish();
 
-    LoggedTunableNumber kp = new LoggedTunableNumber("ki");
-    LoggedTunableNumber ki = new LoggedTunableNumber("ki");
-    LoggedTunableNumber kd = new LoggedTunableNumber("kd");
-
-    Double oldKP, oldKI, oldKD;
-
     private static final double kSimLoopPeriod = 0.005; // 5 ms
     private Notifier m_simNotifier = null;
     private double m_lastSimTime;
@@ -116,13 +110,17 @@ private void ConfigureMotors() {
         }
     }
 
+    public void emtpyReturn(Pose2d input){
+        return;
+    }
+
     public void configurePathplanner() {
 
         double driveBaseRadius = 0;
 
         AutoBuilder.configureHolonomic(
                 () -> this.getState().Pose, // Supplier of current robot pose
-                this::seedFieldRelative, // Consumer for seeding pose against auto
+                this::emtpyReturn, // Consumer for seeding pose against auto
                 this::getCurrentRobotChassisSpeeds,
                 (speeds) ->
                         this.setControl(
@@ -267,19 +265,5 @@ public void periodic() {
         SmartDashboard.putBoolean("In Dinstance", inRangeToSpeaker());
         SmartDashboard.putNumber("tune-target", 0.00);
         SmartDashboard.putNumber("tune-angle", this.getState().Pose.getRotation().getDegrees());
-
-        if (Swerve.controller != null && oldKP == null){
-            this.oldKP = Swerve.controller.getP();
-            this.oldKI = Swerve.controller.getI();
-            this.oldKD = Swerve.controller.getD();
-        }
-
-        if (kp.hasChanged() || ki.hasChanged() || kd.hasChanged()){
-            if (Swerve.controller != null){
-                Swerve.controller.setP(kp.get());
-                Swerve.controller.setI(ki.get());
-                Swerve.controller.setD(kd.get());
-            }
-        }
     }
 }
diff --git a/src/main/java/com/team841/calliope/superstructure/hanger/Hanger.java b/src/main/java/com/team841/calliope/superstructure/hanger/Hanger.java
@@ -29,7 +29,7 @@ public void periodic() {
     }
 
     public void ExtendHanger() {
-        io.setVelocity(1.00);
+        io.setVelocity(-1.00);
     }
 
     public void RetractHanger() {

diff --git a/src/main/java/com/team841/calliope/superstructure/shooter/Shooter.java b/src/main/java/com/team841/calliope/superstructure/shooter/Shooter.java
@@ -62,7 +62,7 @@ public boolean isHighShot() {
     }
 
     public void stopShooter() {
-        io.setMotionMagicVelocityVoltageOutput(-0.015);
+        io.setDutyCycle(-0.05);
     }
 
     public Command runShooter(double velocity) {

diff --git a/src/main/java/com/team841/calliope/superstructure/shooter/ShooterIO.java b/src/main/java/com/team841/calliope/superstructure/shooter/ShooterIO.java
@@ -9,11 +9,14 @@ public class ShooterIOInputs{
         public double bottomVelocity;
         public double topMotionMagicVoltageVelocity;
         public double bottomMotionMagicVoltageVelocity;
+        public double dutyCycleOut;
 
     }
 
     public default void updateInputs(ShooterIOInputs inputs) { }
 
+    public default void setDutyCycle(double value) { }
+
     public default void setMotionMagicVelocityVoltageOutput(double velocity) { }
 
     public default void setMotionMagicVelocityVoltageOutput(double topVelocity, double bottomVelocity) { }

diff --git a/src/main/java/com/team841/calliope/superstructure/shooter/ShooterIOTalonFX.java b/src/main/java/com/team841/calliope/superstructure/shooter/ShooterIOTalonFX.java
@@ -29,6 +29,7 @@ public void updateInputs(ShooterIOInputs inputs) {
         inputs.bottomVelocity = bottomShooter.getVelocity().getValue();
         inputs.bottomMotionMagicVoltageVelocity = bottomControl.Velocity;
         inputs.topMotionMagicVoltageVelocity = topControl.Velocity;
+        inputs.dutyCycleOut = topShooter.getDutyCycle().getValue();
     }
 
     @Override
@@ -43,6 +44,12 @@ public void setMotionMagicVelocityVoltageOutput(double topVelocity, double botto
         topShooter.setControl(topControl.withVelocity(bottomVelocity));
     }
 
+    @Override
+    public void setDutyCycle(double value){
+        topShooter.set(value);
+        bottomShooter.set(value);
+    }
+
     @Override
     public void stop() {
         bottomShooter.stopMotor();