Merge branch 'mvp-testing' into dev

blair-robot-project · Mar 5, 2022 · a9c6734 · a9c6734
2 parents 188fbc2 + 6bc684d
commit a9c6734
Show file tree

Hide file tree

Showing 4 changed files with 432 additions and 8 deletions.
diff --git a/src/main/java/frc/team449/Robot.java b/src/main/java/frc/team449/Robot.java
@@ -8,6 +8,7 @@
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
 import frc.team449.javaMaps.FullMap;
+import frc.team449.javaMaps.IntakeTestMap;
 import frc.team449.other.Clock;
 import frc.team449.other.Updater;
 import io.github.oblarg.oblog.Logger;
@@ -21,7 +22,7 @@ public class Robot extends TimedRobot {
 
   /** The method that runs when the robot is turned on. Initializes all subsystems from the map. */
   public static @NotNull RobotMap loadMap() {
-    return FullMap.createRobotMap();
+    return IntakeTestMap.createRobotMap();
   }
 
   /**

diff --git a/src/main/java/frc/team449/_2022robot/cargo/Cargo2022.java b/src/main/java/frc/team449/_2022robot/cargo/Cargo2022.java
@@ -30,8 +30,8 @@ public Cargo2022(
   }
 
   public void runIntake() {
-    intakeMotor.set(-intakeSpeed);
-    spitterMotor.set(spitterSpeed);
+    intakeMotor.set(intakeSpeed);
+    spitterMotor.set(-spitterSpeed);
   }
 
   public void runIntakeReverse() {
@@ -40,8 +40,8 @@ public void runIntakeReverse() {
   }
 
   public void spit() {
-    intakeMotor.set(-intakeSpeed);
-    spitterMotor.set(-spitterSpeed);
+    intakeMotor.set(intakeSpeed);
+    spitterMotor.set(spitterSpeed);
   }
 
   public void stop() {

diff --git a/src/main/java/frc/team449/javaMaps/FullMap.java b/src/main/java/frc/team449/javaMaps/FullMap.java
@@ -69,11 +69,25 @@ public class FullMap {
       LEFT_LEADER_FOLLOWER_1_PORT = 4,
       LEFT_LEADER_FOLLOWER_2_PORT = 3,
       INTAKE_LEADER_PORT = 8,
-      INTAKE_FOLLOWER_PORT = 9,
-      SPITTER_PORT = 10,
+      INTAKE_FOLLOWER_PORT = 10,
+      SPITTER_PORT = 9,
       RIGHT_CLIMBER_MOTOR_PORT = 6,
       LEFT_CLIMBER_MOTOR_PORT = 5;
+  /*
+  public int chVEL = 1;
+  public void changeVel() {
+    if (chVEL == 1) {
+      DRIVE_KP_VEL = 0.0001;
+      chVEL = 2;
+    }
+    else {
+      DRIVE_KP_VEL = 0.001;
+      chVEL = 1;
+    }
+  }
 
+
+  */
   // Other CAN IDs
   public static final int PDP_CAN = 1, PCM_MODULE = 0;
   // Controller ports
@@ -111,7 +125,7 @@ public class FullMap {
       DRIVE_FF_KS = 0.15084,
       DRIVE_FF_KV = 2.4303,
       DRIVE_FF_KA = 0.5323;
-
+//if changeVEL being used change from constant to changable variable
   private FullMap() {}
 
   @NotNull