misc

primo4586 · Feb 27, 2024 · 76bc408 · 76bc408
1 parent 352e9b7
commit 76bc408
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Showing 5 changed files with 12 additions and 52 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -70,7 +70,7 @@ public static final class IntakeArmConstants {
         // set points
         public static final double AmpSetPoint = 2;
         public static final double SafeSetPoint = 0;
-        public static final double intakeSetPoint = -175;
+        public static final double intakeSetPoint = -152;
 
 
     }

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -10,6 +10,7 @@
 import frc.Utils.PathPlanner.PathPlannerHelper;
 import frc.robot.Constants.IntakeArmConstants;
 import frc.robot.aRobotOperations.CollectToFeeder;
+import frc.robot.aRobotOperations.EStop;
 import frc.robot.aRobotOperations.PrepareForShoot;
 import frc.robot.aRobotOperations.ShootTouchingBase;
 import frc.robot.basicCommands.IntakeArmCommands.IntakeArmDown;
@@ -44,6 +45,7 @@ public class RobotContainer {
     Trigger driverBackTrigger = driver.back();
     Trigger driverPovLeftTrigger = driver.povLeft();
     Trigger driverPovRightTrigger = driver.povRight();
+    Trigger driverStart = driver.start();
 
     // Operator Triggers
     Trigger operatorXTrigger = operator.x();
@@ -52,6 +54,7 @@ public class RobotContainer {
     Trigger operatorRightBumperTrigger = operator.rightBumper();
     Trigger operatorLeftBumperTrigger = operator.leftBumper();
     Trigger operatorBTrigger = operator.b();
+    Trigger operatorStart = operator.start();
 
     PathPlannerHelper pathPlannerHelper = PathPlannerHelper.getInstace();
 
@@ -74,49 +77,6 @@ public RobotContainer() {
                         () -> driver.getHID().getRightTriggerAxis() > 0.5));
 
 
-        //IntakeArmSubsystem.getInstance().setDefaultCommand(new IntakeArmSetSpeed(()-> -test.getRightX()));
-
-
-
-        // ShooterArmSubsystem.getInstance().setDefaultCommand(new InstantCommand(()->{
-        // ShooterArmSubsystem.getInstance().setSpeedArm(()-> test.getLeftX() / 10);
-        // }, ShooterArmSubsystem.getInstance()));
-        // test.b().onTrue(new ZeroShooterArm());
-
-        // ShooterSubsystem.getInstance().setDefaultCommand(new InstantCommand(()->{
-        // ShooterSubsystem.getInstance().manualSetShooterSpeed(()-> test.getRightY());
-        // }, ShooterSubsystem.getInstance()));
-
-        // IntakeSubsystem.getInstance().setDefaultCommand(new IntakeSetSpeed(()->
-        // -test.getLeftY()));
-
-        // test.a().onTrue(new CollectToIntake());
-
-        // Configure the button bindings
-        // test.x().onTrue(new MoveShooterArmTo(29));
-
-        // driver.leftBumper().onTrue(new FeederSetSpeed(()->1));
-        // test.rightBumper().onTrue(new FeederSetSpeed(()->0));
-        // driver.start().onTrue(new ZeroShooterArm());
-        // driver.x().whileTrue(new InstantCommand(()->
-        // ShooterSubsystem.getInstance().setShooterSpeed(100,100),
-        // ShooterSubsystem.getInstance()));
-        // test.start().whileTrue(new InstantCommand(()->
-        // ShooterSubsystem.getInstance().setShooterSpeed(0, 0),
-        // ShooterSubsystem.getInstance()));
-
-        // driver.leftTrigger().whileTrue(new AlignToSpeaker());
-        // driver.x().onTrue(new ShooterArmSpeakerAngle());
-        // driver.b().onTrue(new CollectToFeeder());
-        // driver.a().onTrue(new ShootSpeaker());
-
-        // test.b().onTrue(new IntakeArmUP());
-        // test.x().onTrue(new IntakeArmDown());
-
-        // driver.a().whileTrue(new InstantCommand(() -> ShooterSubsystem.getInstance().setShooterSpeed(100, 100),
-        //         ShooterSubsystem.getInstance()));
-        // // test.leftBumper().onTrue(new ShootTouchingBase());
-
         configureButtonBindings();
     }
 
@@ -132,18 +92,17 @@ public RobotContainer() {
     private void configureButtonBindings() {
 
         // Driver Button Bindings
+        driverStart.onTrue(new EStop());
         driverYTrigger.onTrue(new InstantCommand(() -> swerve.zeroGyro()));
         driverXTrigger.onTrue(new ShootTouchingBase());
         driverRightBumperTrigger.whileTrue(new FeederSetSpeed(()->1).repeatedly());
         driverLeftTriggerToggle.toggleOnTrue(new AlignToSpeaker());
         driverBackTrigger.onTrue(swerve.disableHeadingCommand());
         driverPovLeftTrigger.onTrue(new ZeroIntakeArm());
         driverPovRightTrigger.onTrue(new ZeroShooterArm());
-        driver.start().onTrue(new InstantCommand(()->ShooterSubsystem.getInstance().setShooterSpeed(70, 70
-        ),ShooterSubsystem.getInstance()));
 
         // Operator Button Bindings
-        operator.start().whileTrue(new AlignToAngle(Rotation2d.fromDegrees(90)));
+        operatorStart.onTrue(new EStop());
         operatorXTrigger.onTrue(new CollectToFeeder());
         operatorYTrigger.toggleOnTrue(new PrepareForShoot().repeatedly());
         operatorATrigger

diff --git a/src/main/java/frc/robot/aRobotOperations/EStop.java b/src/main/java/frc/robot/aRobotOperations/EStop.java
@@ -21,9 +21,7 @@ public EStop() {
       new IntakeArmSetSpeed(()->0),
       new IntakeSetSpeed(()->0),
       new ShooterArmSetSpeed(()-> 0),
-      new ShooterSetSpeed(0),
-      new TrapArmSetSpeed(0),
-      new TrapSetSpeed(0)
+      new ShooterSetSpeed(0)
     );
   }
 }
diff --git a/src/main/java/frc/robot/basicCommands/IntakeArmCommands/IntakeArmDown.java b/src/main/java/frc/robot/basicCommands/IntakeArmCommands/IntakeArmDown.java
@@ -30,7 +30,7 @@ public void end(boolean interrupted) {
 
   @Override
   public boolean isFinished() {
-      return Math.abs(intakeArm.getPose() + 175)<10;
+      return Math.abs(intakeArm.getPose() + intakeSetPoint)<10;
   }
 
 }
diff --git a/src/main/java/frc/robot/basicCommands/feederCommands/FeedToShooterBase.java b/src/main/java/frc/robot/basicCommands/feederCommands/FeedToShooterBase.java
@@ -8,6 +8,8 @@
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.FeederSubsystem;
 import frc.robot.subsystems.ShooterArmSubsystem;
+import frc.robot.subsystems.ShooterSubsystem;
+
 import static frc.robot.Constants.FeederConstants.*;
 
 public class FeedToShooterBase extends Command {
@@ -37,7 +39,8 @@ public void initialize() {
   public void execute() {
     if (!startedShooting &&
         timer.hasElapsed(1)
-        &&shooterArmSubsystem.getArmPose()<2) {
+        &&shooterArmSubsystem.isArmReady()&&
+        ShooterSubsystem.getInstance().checkIfShooterAtSpeed()) {
 
       feederSubsystem.setSpeed(FeederShootSpeed);
       startedShooting = true;