[#477] Bug fixes

frc-862 · Mar 29, 2024 · 25865ae · 25865ae
1 parent b1d219e
commit 25865ae
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Showing 5 changed files with 12 additions and 7 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -465,7 +465,7 @@ public class FlywheelConstants {
         public static final double BOTTOM_1_MOTOR_KV = 0.114;
         public static final double BOTTOM_1_MOTOR_KA = 0;
 
-        public static final double RPM_TOLERANCE = 250d;
+        public static final double RPM_TOLERANCE = 100d;
 
         public static final double BIAS_INCREMENT = 1.25; // RPS to bias by per button press
         public static final double COAST_VOLTAGE = 0.1;

diff --git a/src/main/java/frc/robot/command/AutonSmartCollect.java b/src/main/java/frc/robot/command/AutonSmartCollect.java
@@ -44,11 +44,11 @@ public void initialize() {
     }
 
     @Override
-    public void execute() {
+    public void execute() { // TODO this needs to be cleaned up
         if(indexer.getPieceState() == PieceState.IN_COLLECT){
             indexer.setPower(indexerPower.getAsDouble() / 2); // TODO test at speed
         } else if (indexer.getPieceState() == PieceState.IN_PIVOT) {
-            end(false);
+            end(false); // DO not call end in execute, use the isFinsished command
         } else {
             collector.setPower(collectorPower.getAsDouble());
             indexer.setPower(indexerPower.getAsDouble());

diff --git a/src/main/java/frc/robot/command/ChasePieces.java b/src/main/java/frc/robot/command/ChasePieces.java
@@ -82,7 +82,7 @@ public ChasePieces(Swerve drivetrain, Collector collector, Indexer indexer, Pivo
         if (DriverStation.isAutonomous()) {
             this.drivePower = 1.5d;
             this.rotPower = 1.5d; // TODO: get real >:)
-            this.maxCollectPower = 0.8d;
+            this.maxCollectPower = 0.8d; // TODO Shouldnt this be slower?
         } else {
             this.maxCollectPower = 0.65d;
             this.drivePower = 3d;
@@ -100,7 +100,12 @@ public void initialize() {
 
         headingController.setTolerance(VisionConstants.ALIGNMENT_TOLERANCE);
         collectPower = 0d;
-        smartCollect = new AutonSmartCollect(() -> collectPower, () -> collectPower, collector, indexer);
+        if(DriverStation.isAutonomous()) {
+            smartCollect = new AutonSmartCollect(() -> collectPower, () -> collectPower, collector, indexer);
+        } else {
+            smartCollect = new SmartCollect(() -> collectPower, () -> collectPower, collector, indexer, pivot, flywheel);
+        }
+
         smartCollect.initialize();
 
         hasSeenTarget = false;

diff --git a/src/main/java/frc/robot/command/shoot/SmartShoot.java b/src/main/java/frc/robot/command/shoot/SmartShoot.java
@@ -56,7 +56,7 @@ public SmartShoot(Flywheel flywheel, Pivot pivot, Swerve drivetrain, Indexer ind
 		this.collector = collector;
 		this.leds = leds;
 
-		addRequirements(pivot, flywheel, indexer);
+		addRequirements(pivot, flywheel, indexer, collector);
 
 		initLogging();
 	}

diff --git a/src/main/java/frc/robot/subsystems/Limelights.java b/src/main/java/frc/robot/subsystems/Limelights.java
@@ -19,7 +19,7 @@ public class Limelights extends SubsystemBase {
     };
 
     public Limelights() {
-        stopMe = new Limelight("limelight-stopme", "10.8.62.11"); // LL3 Back
+        stopMe = new Limelight("limelight-stopme", "10.8.62.11"); // LL3g Shooter side
         dust = new Limelight("limelight-dust", "10.8.62.12"); // LL2+ Front
         champs = new Limelight("limelight-champs", "10.8.62.13"); // LL3 Front