Merge pull request #81 from 2491-NoMythic/fixInitialShot

2491-NoMythic · Feb 26, 2024 · bf1fe48 · bf1fe48
2 parents 7084e54 + 285aa0a
commit bf1fe48
Show file tree

Hide file tree

Showing 6 changed files with 8 additions and 5 deletions.
diff --git a/src/main/deploy/pathplanner/autos/FleeAmp.auto b/src/main/deploy/pathplanner/autos/FleeAmp.auto
@@ -20,7 +20,7 @@
         {
           "type": "wait",
           "data": {
-            "waitTime": 1.0
+            "waitTime": 3.0
           }
         },
         {

diff --git a/src/main/deploy/pathplanner/autos/FleeMid.auto b/src/main/deploy/pathplanner/autos/FleeMid.auto
@@ -20,7 +20,7 @@
         {
           "type": "wait",
           "data": {
-            "waitTime": 1.25
+            "waitTime": 3.0
           }
         },
         {

diff --git a/src/main/deploy/pathplanner/autos/FleeSource.auto b/src/main/deploy/pathplanner/autos/FleeSource.auto
@@ -20,7 +20,7 @@
         {
           "type": "wait",
           "data": {
-            "waitTime": 1.25
+            "waitTime": 3.0
           }
         },
         {

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -101,6 +101,7 @@ public class RobotContainer {
   public RobotContainer() {
     //preferences are initialized IF they don't already exist on the Rio
     Preferences.initBoolean("Brushes", false);
+    Preferences.setBoolean("Brushes", false);
     Preferences.initBoolean("Intake", false);
     Preferences.initBoolean("Climber", false);
     Preferences.initBoolean("Shooter", false);
@@ -370,7 +371,7 @@ private void registerNamedCommands() {
       NamedCommands.registerCommand("intakeOn", new InstantCommand(()-> intake.intakeYes(1)));
     }
     if(indexerExists&&shooterExists) {
-      NamedCommands.registerCommand("initialShot", new initialShot(shooter, indexer, 0.75, 0.5));
+      NamedCommands.registerCommand("initialShot", new initialShot(shooter, indexer, 2.0, 2.25));
       NamedCommands.registerCommand("shootNote", new shootNote(indexer, 1));
       NamedCommands.registerCommand("shootNote", new shootNote(indexer, 1));
       NamedCommands.registerCommand("setFeedTrue", new InstantCommand(()->SmartDashboard.putBoolean("feedMotor", true)));

diff --git a/src/main/java/frc/robot/commands/NamedCommands/initialShot.java b/src/main/java/frc/robot/commands/NamedCommands/initialShot.java
@@ -30,7 +30,9 @@ public initialShot(ShooterSubsystem shooter, IndexerSubsystem indexer, double re
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
+    timer.reset();
     timer.start();
+    indexer.off();
     shooter.shootRPS(ShooterConstants.SHORT_SHOOTING_RPS);
   }
 

diff --git a/src/main/java/frc/robot/settings/Constants.java b/src/main/java/frc/robot/settings/Constants.java
@@ -267,7 +267,7 @@ public static final class ShooterConstants{
   public static final double ALLOWED_ANGLE_ERROR = 1.5;
   public static final double ALLOWED_SPEED_ERROR = 4;
 
-  public static final double CURRENT_LIMIT = 200; //amps the motor is limited to
+  public static final double CURRENT_LIMIT = 100; //amps the motor is limited to
 
   public static final double AUTO_AIM_ROBOT_kP = 0.125;
   public static final double AUTO_AIM_ROBOT_kI = 0.00;