818 testing shoot to amp testing and state machine fixes

hammerhead226 · Apr 12, 2024 · 12712bd · 12712bd
1 parent 58c78a4
commit 12712bd
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Showing 6 changed files with 20 additions and 19 deletions.
diff --git a/src/main/java/frc/robot/BuildConstants.java b/src/main/java/frc/robot/BuildConstants.java
@@ -5,12 +5,12 @@ public final class BuildConstants {
   public static final String MAVEN_GROUP = "";
   public static final String MAVEN_NAME = "2024RobotCode";
   public static final String VERSION = "unspecified";
-  public static final int GIT_REVISION = 247;
-  public static final String GIT_SHA = "fb9503c89529ab8398a17bd2d2be09e5575edaf7";
-  public static final String GIT_DATE = "2024-04-11 22:36:31 EDT";
+  public static final int GIT_REVISION = 248;
+  public static final String GIT_SHA = "58c78a4b6feeb04b1f5c4de3013888cb1b1e1b67";
+  public static final String GIT_DATE = "2024-04-12 01:07:35 EDT";
   public static final String GIT_BRANCH = "main";
-  public static final String BUILD_DATE = "2024-04-12 01:06:08 EDT";
-  public static final long BUILD_UNIX_TIME = 1712898368415L;
+  public static final String BUILD_DATE = "2024-04-12 19:20:47 EDT";
+  public static final long BUILD_UNIX_TIME = 1712964047399L;
   public static final int DIRTY = 1;
 
   private BuildConstants() {}

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -348,18 +348,18 @@ public RobotContainer() {
         new SelectCommand<>(
             Map.ofEntries(
                 Map.entry(
-                    TRAP_STATES.NONE,
+                    TRAP_STATES.PIVOT,
                     new SetPivotTarget(Constants.PivotConstants.TRAP_SETPOINT_DEG, pivot)
                         .andThen(trapStateMachine::advanceTargetState, elevator)),
                 Map.entry(
-                    TRAP_STATES.PIVOT,
+                    TRAP_STATES.EXTEND,
                     new SetElevatorTarget(
                             Constants.ElevatorConstants.EXTEND_SETPOINT_INCH, 1.5, elevator)
                         .andThen(new InstantCommand(() -> pivot.setShootState(SHOOT_STATE.TRAP)))
                         .andThen(trapStateMachine::advanceTargetState, elevator)),
                 Map.entry(
                     TRAP_STATES.RETRACT_STOW,
-                    new SetElevatorTarget(0, 0.5, elevator)
+                    new SetElevatorTarget(0, 1.5, elevator)
                         .andThen(
                             new SetPivotTarget(Constants.PivotConstants.STOW_SETPOINT_DEG, pivot))
                         .andThen(new InstantCommand(() -> pivot.setShootState(SHOOT_STATE.AIMBOT)))
@@ -719,7 +719,8 @@ private void driverControls() {
             new InstantCommand(() -> shooter.stopFeeders(), shooter)
                 .andThen(
                     new InstantCommand(shooter::stopFlywheels)
-                        .andThen(new InstantCommand(() -> led.setState(LED_STATE.BLUE)))));
+                        .andThen(new InstantCommand(() -> led.setState(LED_STATE.BLUE))))
+                .andThen(new InstantCommand(() -> shooter.turnOffFan(), shooter)));
 
     driveController.a().onTrue(climbCommands);
 

diff --git a/src/main/java/frc/robot/RobotMap.java b/src/main/java/frc/robot/RobotMap.java
@@ -14,16 +14,16 @@ public static class ShooterIDs {
   public static class ElevatorIDs {
     // public static final int LEFT = 8;
     // public static final int RIGHT = 9;
-    public static final int LEFT = 102;
-    public static final int RIGHT = 35;
+    public static final int LEFT = 8;
+    public static final int RIGHT = 9;
   }
 
   public static class PivotIDs {
     public static final int GYRO = 10;
     // public static final int LEFT = 14;
     // public static final int RIGHT = 15;
-    public static final int LEFT = 10000;
-    public static final int RIGHT = 99999;
+    public static final int LEFT = 14;
+    public static final int RIGHT = 15;
   }
 
   public static class LEDIDs {

diff --git a/src/main/java/frc/robot/commands/TurnToAmpCorner.java b/src/main/java/frc/robot/commands/TurnToAmpCorner.java
@@ -41,7 +41,7 @@ public TurnToAmpCorner(
 
     switch (Constants.currentMode) {
       case REAL:
-        gains[0] = 7;
+        gains[0] = 4;
         gains[1] = 0;
         gains[2] = 0;
         break;
@@ -71,7 +71,7 @@ public TurnToAmpCorner(
   @Override
   public void initialize() {
     pivot.setPivotGoal(45);
-    shooter.setFlywheelRPMs(5800, 5800);
+    shooter.setFlywheelRPMs(5200, 4900);
   }
 
   // Called every time the scheduler runs while the command is scheduled.

diff --git a/src/main/java/frc/robot/statemachines/ClimbStateMachine.java b/src/main/java/frc/robot/statemachines/ClimbStateMachine.java
@@ -44,11 +44,11 @@ public CLIMB_STATES getTargetState() {
   public void advanceTargetState() {
     switch (targetState) {
       case NONE:
-        targetState = CLIMB_STATES.PIVOT;
-        break;
-      case PIVOT:
         targetState = CLIMB_STATES.EXTEND;
         break;
+        // case PIVOT:
+        //   targetState = CLIMB_STATES.EXTEND;
+        //   break;
       case EXTEND:
         targetState = CLIMB_STATES.RETRACT;
         break;

diff --git a/src/main/java/frc/robot/statemachines/TrapStateMachine.java b/src/main/java/frc/robot/statemachines/TrapStateMachine.java
@@ -23,7 +23,7 @@ public enum TRAP_STATES {
     RETRACT_STOW
   }
 
-  private TRAP_STATES targetState = TRAP_STATES.NONE;
+  private TRAP_STATES targetState = TRAP_STATES.PIVOT;
 
   public TRAP_STATES getTargetState() {
     return targetState;