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fixed intake ramp, shooter, and drive PID

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This commit is contained in:
Mehooliu
2026-02-21 17:26:10 -05:00
parent a8f351854f
commit 3d7601387a
15 changed files with 382 additions and 292 deletions
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11
src/main/java/frc/robot/Robot.java
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@@ -4,6 +4,8 @@
package frc.robot;
import org.photonvision.targeting.PhotonPipelineResult;
import com.pathplanner.lib.auto.AutoBuilder;
import edu.wpi.first.networktables.GenericEntry;
@@ -36,6 +38,7 @@ public class Robot extends TimedRobot {
private static NetworkTable table;
private static GenericEntry distanceFromLimelight;
public Robot() {
instance = this;
}
@@ -63,6 +66,8 @@ public class Robot extends TimedRobot {
if (isSimulation()) {
DriverStation.silenceJoystickConnectionWarning(true);
}
m_robotContainer.getSwerveDrive().zeroGyroWithAlliance();
}
/**
@@ -86,10 +91,10 @@ public class Robot extends TimedRobot {
// block in order for anything in the Command-based framework to work.
CommandScheduler.getInstance().run();
// Constants.ShooterConstants.getRampAndIndexerMotorSpeed();
Constants.IntakeConstants.updateIntakeWheelsRPM();
//Constants.ShooterConstants.getRampAndIndexerMotorSpeed();
//Constants.IntakeConstants.updateIntakeWheelsRPM();
Constants.ShooterConstants.updateShooterRPM();
Constants.ShooterConstants.updateIndexerAndRampMotorRPM();
//Constants.ShooterConstants.updateIndexerAndRampMotorRPM();
TargetingSubsystems.updateRobotPose(Constants.TargetingConstants.ORANGE_PHOTON_CAM,
Constants.TargetingConstants.ORANGE_PHOTON_ESTIMATOR, m_robotContainer.getSwerveDrive());