Changes made at TRI

lasarobotics · Jul 3, 2024 · d39d806 · d39d806
1 parent a83de44
commit d39d806
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Showing 4 changed files with 5 additions and 7 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -159,8 +159,8 @@ public static class Shooter {
       Units.DegreesPerSecond.of(360.0 * 10).per(Units.Second)
     );
     public static final List<Entry<Measure<Distance>,State>> SHOOTER_MAP = Arrays.asList(
-      Map.entry(Units.Meters.of(0.00), new State(Units.MetersPerSecond.of(14.90),    Units.Degrees.of(53.0))),
-      Map.entry(Units.Meters.of(1.00), new State(Units.MetersPerSecond.of(14.94),    Units.Degrees.of(53.0))),
+      Map.entry(Units.Meters.of(0.00), new State(Units.MetersPerSecond.of(14.90),    Units.Degrees.of(56.0))),
+      Map.entry(Units.Meters.of(1.00), new State(Units.MetersPerSecond.of(14.94),    Units.Degrees.of(56.0))),
       Map.entry(Units.Meters.of(1.50), new State(Units.MetersPerSecond.of(15.00),    Units.Degrees.of(53.0))),
       Map.entry(Units.Meters.of(2.00), new State(Units.MetersPerSecond.of(15.00781), Units.Degrees.of(44.5))),
       Map.entry(Units.Meters.of(2.50), new State(Units.MetersPerSecond.of(15.10964), Units.Degrees.of(37.0))),

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -111,7 +111,7 @@ private void configureBindings() {
 
     // Right trigger button - aim and shoot at speaker, shooting only if speaker tag is visible and robot is in range
     // Click DPAD down to override and shoot now
-    // PRIMARY_CONTROLLER.rightTrigger().whileTrue(shootCommand(() -> PRIMARY_CONTROLLER.b().getAsBoolean()));
+    PRIMARY_CONTROLLER.rightTrigger().whileTrue(shootCommand(() -> PRIMARY_CONTROLLER.b().getAsBoolean()));
 
     // Right bumper button - amp score, also use for outtake
     PRIMARY_CONTROLLER.rightBumper().whileTrue(SHOOTER_SUBSYSTEM.scoreAmpCommand());

diff --git a/src/main/java/frc/robot/subsystems/drive/DriveSubsystem.java b/src/main/java/frc/robot/subsystems/drive/DriveSubsystem.java
@@ -368,8 +368,6 @@ public static Hardware initializeHardware() {
       Constants.Drive.DRIVE_SLIP_RATIO
     );
 
-
-
     Hardware drivetrainHardware = new Hardware(navx, lFrontModule, rFrontModule, lRearModule, rRearModule);
 
     return drivetrainHardware;

diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterSubsystem.java b/src/main/java/frc/robot/subsystems/shooter/ShooterSubsystem.java
@@ -79,8 +79,8 @@ public static class State {
 
     public static final State AMP_PREP_STATE = new State(ZERO_FLYWHEEL_SPEED, Units.Degrees.of(56.0));
     public static final State AMP_SCORE_STATE = new State(Units.MetersPerSecond.of(+3.1), Units.Degrees.of(56.0));
-    public static final State SPEAKER_PREP_STATE = new State(ZERO_FLYWHEEL_SPEED, Units.Degrees.of(53.0));
-    public static final State SPEAKER_SCORE_STATE = new State(Units.MetersPerSecond.of(+15.0), Units.Degrees.of(53.0));
+    public static final State SPEAKER_PREP_STATE = new State(ZERO_FLYWHEEL_SPEED, Units.Degrees.of(55.0));
+    public static final State SPEAKER_SCORE_STATE = new State(Units.MetersPerSecond.of(+15.0), Units.Degrees.of(55.0));
     public static final State SOURCE_PREP_STATE = new State(ZERO_FLYWHEEL_SPEED, Units.Degrees.of(55.0));
     public static final State SOURCE_INTAKE_STATE = new State(Units.MetersPerSecond.of(-10.0), Units.Degrees.of(55.0));
     public static final State PASSING_STATE = new State(Units.MetersPerSecond.of(+15.0), Units.Degrees.of(45.0));
-Original file line number
+Diff line change
@@ Expand Up / @@ -368,8 +368,6 @@ public static Hardware initializeHardware() { @@
           Constants.Drive.DRIVE_SLIP_RATIO
         );
         Hardware drivetrainHardware = new Hardware(navx, lFrontModule, rFrontModule, lRearModule, rRearModule);
         return drivetrainHardware;
@@ Expand Down @@