Team2890/Mothman
4
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Added individual testing motors onto button board + added shooter equations back in

Browse Source
This commit is contained in:
Mehooliu
2026-03-13 18:15:41 -04:00
parent 4bb240138d
commit 38db87047f
4 changed files with 11 additions and 24 deletions
Download Patch File Download Diff File Expand all files Collapse all files

13
src/main/java/frc/robot/RobotContainer.java
View File

@@ -232,7 +232,7 @@ public class RobotContainer {
// full shooting system including linear actuators
//driverXbox.rightTrigger().onTrue(m_ShooterSubsystem.shootFuelCommand().andThen(new WaitCommand(1.5)));
//.andThen(m_IntakeSubsystem.assistFuelIntakeCommand().repeatedly()));
driverXbox.rightTrigger().onTrue(m_ShooterSubsystem.setShooterMotorsRPMCommand(-3400));
driverXbox.rightTrigger().onTrue(m_ShooterSubsystem.shootFuelCommand());
driverXbox.leftBumper().onTrue(m_IntakeSubsystem
.startIntakeMotorCommand(Constants.IntakeConstants.INTAKE_WHEELS_MOTOR_RPM_SLOW));
// driverXbox.rightBumper().onTrue(m_IntakeSubsystem.assistFuelIntakeCommand(Constants.IntakeConstants.INTAKE_THROUGHBORE_ENCODER_MIDDLE,
@@ -258,15 +258,12 @@ public class RobotContainer {
// driverXbox.b().whileTrue(m_TargetingSubsystems.aimAndRangeToPose(Constants.TargetingConstants.LEFT_CLIMB_POSE));
operatorXbox.x().whileTrue(m_ShooterSubsystem.testLeftShooterCommand())
topButtons.button(12).whileTrue(m_ShooterSubsystem.testLeftShooterCommand())
.onFalse(m_ShooterSubsystem.stopLeftShooterCommand());
operatorXbox.y().whileTrue(m_ShooterSubsystem.testCenterShooterCommand())
topButtons.button(11).whileTrue(m_ShooterSubsystem.testCenterShooterCommand())
.onFalse(m_ShooterSubsystem.stopCenterShooterCommand());
operatorXbox.b().whileTrue(m_ShooterSubsystem.testRightShooterCommand())
topButtons.button(10).whileTrue(m_ShooterSubsystem.testRightShooterCommand())
.onFalse(m_ShooterSubsystem.stopRightShooterCommand());
operatorXbox.a().whileTrue(m_ShooterSubsystem.
setIndexerAndRampMotorRPMCommand())
.onFalse(m_ShooterSubsystem.stopIndexerAndRampMotorCommand());
topButtons.axisGreaterThan(1, 0.3)
@@ -386,7 +383,7 @@ public class RobotContainer {
}
public Command setIdleShooterRPMCommand() {
return Commands.runOnce(() -> m_ShooterSubsystem
return Commands.runOnce(() -> ShooterSubsystem
.setShooterMotorsRPM(Constants.ShooterConstants.IDLE_SHOOTER_RPM))
.andThen(m_ShooterSubsystem.stopIndexerAndRampMotorCommand());
}

4
src/main/java/frc/robot/subsystems/IntakeSubsystem.java
View File

@@ -85,8 +85,8 @@ public class IntakeSubsystem extends SubsystemBase {
// Slot 2
.p(.8, ClosedLoopSlot.kSlot2)
.i(.001, ClosedLoopSlot.kSlot2)
.d(0.3, ClosedLoopSlot.kSlot2);
.i(.0, ClosedLoopSlot.kSlot2)
.d(0.8, ClosedLoopSlot.kSlot2);
intakeRotatorConfig.smartCurrentLimit(80);
intakeRotatorMotor.configure(intakeRotatorConfig, com.revrobotics.ResetMode.kNoResetSafeParameters,

12
src/main/java/frc/robot/subsystems/ShooterSubsystem.java
View File

@@ -111,13 +111,6 @@ public class ShooterSubsystem extends SubsystemBase {
indexerAndRampMotorPIDController = indexerAndRampMotor.getClosedLoopController();
}
// private static SparkMax leftActuatorMotor = new
// SparkMax(Constants.ShooterConstants.LEFT_ACTUATOR_PWM_PORT,
// MotorType.kBrushless);
// private static SparkMax rightActuatorMotor = new
// SparkMax(Constants.ShooterConstants.RIGHT_ACTUATOR_PWM_PORT,
// MotorType.kBrushless);
public void setShooterMotorsRPM() {
centerShooterMotorPIDController.setSetpoint(Constants.ShooterConstants.SHOOTER_RPM, ControlType.kVelocity);
@@ -267,7 +260,10 @@ public class ShooterSubsystem extends SubsystemBase {
@Override
public void periodic() {
SmartDashboard.putNumber("Shooter Velocity", leftShooterMotor.getEncoder().getVelocity());
SmartDashboard.putString("Shooter Velocity", "Left: "
+ leftShooterMotor.getEncoder().getVelocity()
+ " Center:" + centerShooterMotor.getEncoder().getVelocity()
+ " Right: " + rightShooterMotor.getEncoder().getVelocity());
}
}

6
src/main/java/frc/robot/subsystems/TargetingSubsystems.java
View File

@@ -56,15 +56,9 @@ public class TargetingSubsystems extends SubsystemBase {
public static Rotation2d hubThetaPose = new Rotation2d();
public static Optional<Alliance> alliance = DriverStation.getAlliance();
private static ShuffleboardTab cameras;
public TargetingSubsystems() {
photonAimPIDController.enableContinuousInput(-Math.PI, Math.PI);
cameras = Shuffleboard.getTab("Vision");
// cameras.addCamera("Rear Left Camera","Rear Left
// Camera","http://photonvision.local:5800/#/cameras");
// cameras.addCamera("Rear Right Camera", "Rear Right Camera",
// "http://photonvision.local:5800/#/cameras");
}