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fixed intake to make it better #112

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merged 2 commits into from
Mar 21, 2024
Merged

fixed intake to make it better #112

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d0ac824
fixed intake to make it better
rflood07 Mar 21, 2024
6d223ae
changed auto pickup commmand to be used in teleop and auto
rflood07 Mar 21, 2024
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26 changes: 13 additions & 13 deletions src/main/java/frc/robot/RobotContainer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -130,6 +130,7 @@ public class RobotContainer {
DoubleSupplier zeroSup;

BooleanSupplier intakeReverse;
Command autoPickup;
// Replace with CommandPS4Controller or CommandJoystick if needed

/** The container for the robot. Contains subsystems, OI devices, and commands. */
Expand Down Expand Up @@ -287,10 +288,17 @@ private void configureBindings() {
));

if(Preferences.getBoolean("Detector Limelight", false)) {
new Trigger(operatorController::getR1Button).whileTrue(new SequentialCommandGroup(
new CollectNote(driveTrain, limelight),
new DriveTimeCommand(-1, 0, 0, 1, driveTrain)
));
autoPickup = new ParallelRaceGroup(
new AutoGroundIntake(indexer, intake, angleShooterSubsystem),
new SequentialCommandGroup(
new CollectNote(driveTrain, limelight),
new DriveTimeCommand(-1, 0, 0, 1.5, driveTrain),
new DriveTimeCommand(1, 0, 0, 0.5, driveTrain),
new DriveTimeCommand(-1, 0, 0, 0.5, driveTrain),
new WaitCommand(0.5)
)
).withTimeout(4);
new Trigger(operatorController::getR1Button).whileTrue(autoPickup);
}
new Trigger(ForceVisionSup).onTrue(new InstantCommand(()->SmartDashboard.putBoolean("force use limelight", true))).onFalse(new InstantCommand(()->SmartDashboard.putBoolean("force use limelight", false)));
SmartDashboard.putData("force update limelight position", new InstantCommand(()->driveTrain.forceUpdateOdometryWithVision(), driveTrain));
Expand Down Expand Up @@ -445,15 +453,7 @@ private void registerNamedCommands() {
new AutoGroundIntake(indexer, intake, angleShooterSubsystem)
));
if(intakeExists&&indexerExists&&angleShooterExists) {
NamedCommands.registerCommand("autoPickup",new ParallelCommandGroup(
new AutoGroundIntake(indexer, intake, angleShooterSubsystem),
new SequentialCommandGroup(
new CollectNote(driveTrain, limelight),
new DriveTimeCommand(-1, 0, 0, 1.5, driveTrain),
new DriveTimeCommand(1, 0, 0, 0.5, driveTrain)
)
).withTimeout(3.5)
);
NamedCommands.registerCommand("autoPickup", autoPickup);
}
if(intakeExists&&!indexerExists&&!angleShooterExists) {
NamedCommands.registerCommand("groundIntake", new InstantCommand(()->intake.intakeYes(IntakeConstants.INTAKE_SPEED)));
Expand Down
2 changes: 1 addition & 1 deletion src/main/java/frc/robot/settings/Constants.java
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Expand Up @@ -265,7 +265,7 @@ public static final class ShooterConstants{
public static final double HUMAN_PLAYER_ANGLE = 97;
public static final double HUMAN_PLAYER_RPS = -15;
public static final double SAFE_SHOOTER_ANGLE = 15;
public static final double GROUND_INTAKE_SHOOTER_ANGLE = 90;
public static final double GROUND_INTAKE_SHOOTER_ANGLE = 69;
/**
* the values used when adjusting the shooter's angle based on our speaker distance. Here's how we calculated them:
* <p>
Expand Down
6 changes: 4 additions & 2 deletions src/main/java/frc/robot/subsystems/IntakeSubsystem.java
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Original file line number Diff line number Diff line change
Expand Up @@ -42,8 +42,7 @@ public IntakeSubsystem() {
} else {
m_DistanceSensor = intake2.getAnalog(Mode.kAbsolute);
}
intake2.follow(intake1);
intake2.setInverted(false);
intake2.setInverted(true);
intake1.setInverted(true);
intake1.setIdleMode(IdleMode.kCoast);
intake2.setIdleMode(IdleMode.kCoast);
Expand All @@ -65,6 +64,7 @@ public IntakeSubsystem() {
*/
public void intakeYes(double intakeRunSpeed) {
intake1.set(intakeRunSpeed);
intake2.set(intakeRunSpeed);
}
/**
* sets the intakes speed
Expand All @@ -73,12 +73,14 @@ public void intakeYes(double intakeRunSpeed) {
*/
public void intakeNo(double intakeRunSpeed) {
intake1.set(-intakeRunSpeed);
intake2.set(-intakeRunSpeed);
}
/**
* sets the intake's power to 0
*/
public void intakeOff() {
intake1.set(0);
intake2.set(0);
}
/**
* uses the distance sensor inside the indexer to tell if there is a note fully inside the indexer
Expand Down
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