Merge branch 'main' into 475-faster-chase

frc-862 · Mar 27, 2024 · 3489550 · 3489550
2 parents 94c38a8 + 66b9497
commit 3489550
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Showing 3 changed files with 6 additions and 61 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -602,9 +602,9 @@ public enum ShootingState {
 
     public class CandConstants { // TODO get real
         // Amp
-        public static final double AMP_TOP_RPM = 50;
-        public static final double AMP_BOTTOM_RPM = 2000;
-        public static final double AMP_ANGLE = 45;
+        public static final double AMP_TOP_RPM = 300;
+        public static final double AMP_BOTTOM_RPM = 700;
+        public static final double AMP_ANGLE = 93;
 
         // PointBlank
         public static final double POINT_BLANK_RPM = 2000;
@@ -626,11 +626,6 @@ public class CandConstants { // TODO get real
         public static final double C3_RPM = 0;
         public static final double C3_ANGLE = 0;
 
-        // Reverse Amp Shot
-        public static final double REVERSE_AMP_TOP_RPM = 500;
-        public static final double REVERSE_AMP_BOTTOM_RPM = 650;
-        public static final double REVERSE_AMP_ANGLE = 110;
-
         // Line
         public static final double LINE_RPM = 0;
         public static final double LINE_ANGLE = 0;

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -47,7 +47,6 @@
 import frc.robot.command.stopDrive;
 import frc.robot.command.shoot.AmpShot;
 import frc.robot.command.shoot.FlywheelIN;
-import frc.robot.command.shoot.ReverseAmpShot;
 import frc.robot.command.shoot.PointBlankShot;
 import frc.robot.command.shoot.SmartShoot;
 import frc.robot.command.shoot.PivotUP;
@@ -261,13 +260,9 @@ protected void configureButtonBindings() {
         // new Trigger(coPilot::getAButton).whileTrue(new Tune(flywheel,
         // pivot).deadlineWith(leds.enableState(LED_STATES.SHOOTING)));
 
-        if (Constants.isMercury()) {
-            new Trigger(coPilot::getAButton).whileTrue(new ReverseAmpShot(flywheel, pivot));
-        } else {
-            new Trigger(coPilot::getAButton)
-                    .whileTrue(new AmpShot(flywheel, pivot)
-                    .deadlineWith(leds.enableState(LED_STATES.SHOOTING)));
-        }
+		new Trigger(coPilot::getAButton)
+		        .whileTrue(new AmpShot(flywheel, pivot)
+		        .deadlineWith(leds.enableState(LED_STATES.SHOOTING)));
 
         /* BIAS */
         new Trigger(() -> coPilot.getPOV() == 0)

diff --git a/src/main/java/frc/robot/command/shoot/ReverseAmpShot.java b/src/main/java/frc/robot/command/shoot/ReverseAmpShot.java