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Changed code for robot

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This commit is contained in:
Mehooliu
2026-03-02 16:25:15 -05:00
parent 69279812f3
commit 1b84701184
10 changed files with 407 additions and 271 deletions
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16
src/main/java/frc/robot/Robot.java
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@@ -19,6 +19,8 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandScheduler;
import frc.robot.Constants.IntakeConstants;
import frc.robot.subsystems.IntakeSubsystem;
import frc.robot.subsystems.TargetingSubsystems;
/**
@@ -94,16 +96,8 @@ public class Robot extends TimedRobot {
//Constants.ShooterConstants.getRampAndIndexerMotorSpeed();
//Constants.IntakeConstants.updateIntakeWheelsRPM();
Constants.ShooterConstants.updateShooterRPM();
TargetingSubsystems.getHubPoseTheta(m_robotContainer.getSwerveDrive());
//Constants.ShooterConstants.updateIndexerAndRampMotorRPM();
TargetingSubsystems.updateRobotPose(Constants.TargetingConstants.ORANGE_PHOTON_CAM,
Constants.TargetingConstants.ORANGE_PHOTON_ESTIMATOR, m_robotContainer.getSwerveDrive());
TargetingSubsystems.updateRobotPose(Constants.TargetingConstants.BLACK_PHOTON_CAM,
Constants.TargetingConstants.BLACK_PHOTON_ESTIMATOR, m_robotContainer.getSwerveDrive());
TargetingSubsystems.updateRobotPose(Constants.TargetingConstants.RED_PHOTON_CAM,
Constants.TargetingConstants.RED_PHOTON_ESTIMATOR, m_robotContainer.getSwerveDrive());
TargetingSubsystems.updateRobotPose(Constants.TargetingConstants.PURPLE_PHOTON_CAM,
Constants.TargetingConstants.PURPLE_PHOTON_ESTIMATOR, m_robotContainer.getSwerveDrive());
}
@@ -132,6 +126,7 @@ public class Robot extends TimedRobot {
*/
@Override
public void autonomousInit() {
IntakeSubsystem.resetIntakeRotationEncoder();
m_robotContainer.setMotorBrake(true);
m_autonomousCommand = m_robotContainer.getAutonomousCommand();
@@ -142,6 +137,9 @@ public class Robot extends TimedRobot {
if (m_autonomousCommand != null) {
m_autonomousCommand.schedule();
}
}
/**