COMP States - Q74

frc-862 · Apr 5, 2024 · 0cd7d88 · 0cd7d88
1 parent 4b9c5e8
commit 0cd7d88
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Showing 15 changed files with 38 additions and 38 deletions.
diff --git a/src/main/deploy/pathplanner/autos/3-SB-[F5-F4]-EF.auto b/src/main/deploy/pathplanner/autos/3-SB-[F5-F4]-EF.auto
@@ -141,7 +141,7 @@
         {
           "type": "named",
           "data": {
-            "name": null
+            "name": "Stop-Flywheel"
           }
         },
         {

diff --git a/src/main/deploy/pathplanner/autos/4-SB-[C3-C2-F3]-EC.auto b/src/main/deploy/pathplanner/autos/4-SB-[C3-C2-F3]-EC.auto
@@ -90,7 +90,7 @@
         {
           "type": "named",
           "data": {
-            "name": "Smart-Shoot"
+            "name": "Cand-3.5"
           }
         },
         {
@@ -159,7 +159,7 @@
         {
           "type": "named",
           "data": {
-            "name": "Smart-Shoot"
+            "name": "Cand-3.5"
           }
         },
         {
@@ -253,7 +253,7 @@
         {
           "type": "named",
           "data": {
-            "name": "Smart-Shoot"
+            "name": "Cand-3.5"
           }
         }
       ]

diff --git a/src/main/deploy/pathplanner/paths/BB-C3.path b/src/main/deploy/pathplanner/paths/BB-C3.path
@@ -16,11 +16,11 @@
     },
     {
       "anchor": {
-        "x": 2.3,
+        "x": 2.55,
         "y": 3.8
       },
       "prevControl": {
-        "x": 0.5535511224868603,
+        "x": 0.8035511224868603,
         "y": 3.7506652859459564
       },
       "nextControl": null,

diff --git a/src/main/deploy/pathplanner/paths/BF-C3.path b/src/main/deploy/pathplanner/paths/BF-C3.path
@@ -16,11 +16,11 @@
     },
     {
       "anchor": {
-        "x": 2.3,
+        "x": 2.55,
         "y": 3.8
       },
       "prevControl": {
-        "x": 0.7015552646489911,
+        "x": 0.9515552646489911,
         "y": 3.8
       },
       "nextControl": null,

diff --git a/src/main/deploy/pathplanner/paths/C2-C3.path b/src/main/deploy/pathplanner/paths/C2-C3.path
@@ -16,11 +16,11 @@
     },
     {
       "anchor": {
-        "x": 2.3,
+        "x": 2.55,
         "y": 3.8
       },
       "prevControl": {
-        "x": 1.6100701432172113,
+        "x": 1.8600701432172113,
         "y": 3.818506867782967
       },
       "nextControl": null,

diff --git a/src/main/deploy/pathplanner/paths/C3-C2.path b/src/main/deploy/pathplanner/paths/C3-C2.path
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 2.3,
+        "x": 2.55,
         "y": 3.8
       },
       "prevControl": null,
       "nextControl": {
-        "x": 1.3199370860280193,
-        "y": 4.065180438053184
+        "x": 1.5699370860280193,
+        "y": 4.065180438053185
       },
       "isLocked": false,
       "linkedName": "C3"

diff --git a/src/main/deploy/pathplanner/paths/C3-F1.path b/src/main/deploy/pathplanner/paths/C3-F1.path
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 2.3,
+        "x": 2.55,
         "y": 3.8
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.2506652859459564,
-        "y": 6.493675387350774
+        "x": 2.5006652859459564,
+        "y": 6.493675387350775
       },
       "isLocked": false,
       "linkedName": "C3"

diff --git a/src/main/deploy/pathplanner/paths/C3-F2.path b/src/main/deploy/pathplanner/paths/C3-F2.path
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 2.3,
+        "x": 2.55,
         "y": 3.8
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.2605322287567655,
-        "y": 5.664852191242843
+        "x": 2.5105322287567655,
+        "y": 5.664852191242844
       },
       "isLocked": false,
       "linkedName": "C3"

diff --git a/src/main/deploy/pathplanner/paths/C3-F3.path b/src/main/deploy/pathplanner/paths/C3-F3.path
@@ -3,12 +3,12 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 2.3,
+        "x": 2.55,
         "y": 3.8
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.5553683061717036,
+        "x": 2.8053683061717036,
         "y": 2.79888993444178
       },
       "isLocked": false,

diff --git a/src/main/deploy/pathplanner/paths/Linked Point.path b/src/main/deploy/pathplanner/paths/Linked Point.path
@@ -96,15 +96,15 @@
     },
     {
       "anchor": {
-        "x": 2.3,
+        "x": 2.55,
         "y": 3.8
       },
       "prevControl": {
-        "x": 2.284355857409949,
+        "x": 2.534355857409949,
         "y": 3.8948306037374874
       },
       "nextControl": {
-        "x": 2.3156441425900507,
+        "x": 2.5656441425900507,
         "y": 3.7051693962625123
       },
       "isLocked": false,

diff --git a/src/main/deploy/pathplanner/paths/SB-C3.path b/src/main/deploy/pathplanner/paths/SB-C3.path
@@ -16,11 +16,11 @@
     },
     {
       "anchor": {
-        "x": 2.3,
+        "x": 2.55,
         "y": 3.8
       },
       "prevControl": {
-        "x": 1.673062054584547,
+        "x": 1.923062054584547,
         "y": 3.895854323169196
       },
       "nextControl": null,

diff --git a/src/main/deploy/pathplanner/paths/SF-C3.path b/src/main/deploy/pathplanner/paths/SF-C3.path
@@ -16,11 +16,11 @@
     },
     {
       "anchor": {
-        "x": 2.3,
+        "x": 2.55,
         "y": 3.8
       },
       "prevControl": {
-        "x": 1.0703621626929412,
+        "x": 1.3203621626929412,
         "y": 3.788289163454219
       },
       "nextControl": null,

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -677,8 +677,8 @@ public class CandConstants { // TODO get real
         public static final double C3_ANGLE = 0;
 
         // Line
-        public static final double LINE_RPM = 0;
-        public static final double LINE_ANGLE = 0;
+        public static final double LINE_RPM = 4100d;
+        public static final double LINE_ANGLE = 28.7;
 
         // Source
         public static final double SOURCE_RPM = -300d; // TODO test

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -58,10 +58,10 @@
 import frc.robot.command.shoot.Tune;
 import frc.robot.command.shoot.preAim;
 import frc.robot.command.shoot.AutonCand.AmpShotAuton;
+import frc.robot.command.shoot.AutonCand.Cand35;
 import frc.robot.command.shoot.AutonCand.CandC1;
 import frc.robot.command.shoot.AutonCand.CandC2;
 import frc.robot.command.shoot.AutonCand.CandC3;
-import frc.robot.command.shoot.AutonCand.CandLine;
 import frc.robot.command.shoot.AutonCand.PointBlankShotAuton;
 import frc.robot.command.tests.CollectorSystemTest;
 import frc.robot.command.tests.DrivetrainSystemTest;
@@ -167,7 +167,7 @@ protected void initializeNamedCommands() {
 		NamedCommands.registerCommand("Cand-C1", new CandC1(flywheel, pivot, indexer));
 		NamedCommands.registerCommand("Cand-C2", new CandC2(flywheel, pivot, indexer));
 		NamedCommands.registerCommand("Cand-C3", new CandC3(flywheel, pivot, indexer));
-		NamedCommands.registerCommand("Cand-Line", new CandLine(flywheel, pivot, indexer));
+		NamedCommands.registerCommand("Cand-3.5", new Cand35(flywheel, pivot, indexer));
 		NamedCommands.registerCommand("AMP", new AmpShotAuton(flywheel, pivot, indexer));
 		NamedCommands.registerCommand("Stow", new Stow(flywheel, pivot));
 		NamedCommands.registerCommand("Smart-Shoot",
@@ -259,9 +259,9 @@ protected void configureButtonBindings() {
 		new Trigger(coPilot::getXButton)
 				.whileTrue(new PointBlankShot(flywheel, pivot).deadlineWith(leds.enableState(LED_STATES.SHOOTING)));
 		// new Trigger(coPilot::getYButton).whileTrue(new PivotUP(pivot));
-		new Trigger(coPilot::getYButton).whileTrue(new NotePass(flywheel, pivot));
-		// new Trigger(coPilot::getAButton).whileTrue(new Tune(flywheel, pivot)
-		// .deadlineWith(leds.enableState(LED_STATES.SHOOTING)));
+		// new Trigger(coPilot::getYButton).whileTrue(new NotePass(flywheel, pivot));
+		new Trigger(coPilot::getYButton).whileTrue(new Tune(flywheel, pivot)
+		.deadlineWith(leds.enableState(LED_STATES.SHOOTING)));
 		new Trigger(coPilot::getAButton).whileTrue(new AmpShot(flywheel, pivot)
 				.deadlineWith(leds.enableState(LED_STATES.SHOOTING)));
 		new Trigger(coPilot::getRightBumper)

diff --git a/...bot/command/shoot/AutonCand/CandLine.java → ...robot/command/shoot/AutonCand/Cand35.java b/...bot/command/shoot/AutonCand/CandLine.java → ...robot/command/shoot/AutonCand/Cand35.java
@@ -7,7 +7,7 @@
 import frc.robot.subsystems.Pivot;
 import frc.robot.subsystems.Indexer;
 
-public class CandLine extends Command {
+public class Cand35 extends Command {
 
     private final Flywheel flywheel;
     private final Pivot pivot;
@@ -26,7 +26,7 @@ public class CandLine extends Command {
      * @param pivot    subsystem
      * @param indexer  subsystem
      */
-    public CandLine(Flywheel flywheel, Pivot pivot, Indexer indexer) {
+    public Cand35(Flywheel flywheel, Pivot pivot, Indexer indexer) {
         this.flywheel = flywheel;
         this.pivot = pivot;
         this.indexer = indexer;
@@ -71,6 +71,6 @@ public void end(boolean interrupted) {
 
     @Override
     public boolean isFinished() {
-        return shot && startTime - shotTime >= CandConstants.TIME_TO_SHOOT;
+        return indexer.hasShot();
     }
 }