tuned amp shot

2491-NoMythic · Mar 9, 2024 · 4292a8f · 4292a8f
1 parent f026154
commit 4292a8f
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Showing 3 changed files with 5 additions and 4 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -298,8 +298,8 @@ private void configureBindings() {
       //this sequential command group SHOULD (not tested) 1) start rev'ing up the shooter 2) drive backwards 3) for shoter to rev, then shoot the note 4) wait for the shot to leave the robot
       SequentialCommandGroup scoreAmp = new SequentialCommandGroup(
         new InstantCommand(()->shooter.shootSameRPS(ShooterConstants.AMP_RPS), shooter),
-        new DriveTimeCommand(-0.3, 0, 0, 0.2, driveTrain),
-        new WaitUntil(shooter::validShot),
+        new DriveTimeCommand(0.3, 0, 0, 0.3, driveTrain),
+        new WaitUntil(()->(shooter.validShot() && driveTrain.getChassisSpeeds().vxMetersPerSecond == 0)),
         new InstantCommand(()->indexer.set(IndexerConstants.INDEXER_AMP_SPEED), indexer),
         new WaitCommand(0.2)
         );
@@ -478,4 +478,4 @@ public void disabledInit() {
       new InstantCommand(angleShooterSubsystem::stop, angleShooterSubsystem);
     }
   }
-}
+}
diff --git a/src/main/java/frc/robot/commands/DriveTimeCommand.java b/src/main/java/frc/robot/commands/DriveTimeCommand.java
@@ -51,6 +51,7 @@ public void execute() {
   public void end(boolean interrupted) {
     timer.reset();
     timer.stop();
+    drivetrain.stop();
   }
 
   // Returns true when the command should end.

diff --git a/src/main/java/frc/robot/settings/Constants.java b/src/main/java/frc/robot/settings/Constants.java
@@ -240,7 +240,7 @@ public static final class ShooterConstants{
 
   public static final double LONG_SHOOTING_RPS = 120;
   public static final double SHORT_SHOOTING_RPS = 80;
-  public static final double AMP_RPS = 8.5;
+  public static final double AMP_RPS = 9.5;
   public static final double SUBWOOFER_RPS = SHORT_SHOOTING_RPS;
 
   //the PID values used on the PID loop on the motor controller that control the position of the shooter angle