shoot commands

hammerhead226 · Apr 11, 2024 · 297b1ed · 297b1ed
1 parent 5ce2f3b
commit 297b1ed
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Showing 9 changed files with 738 additions and 834 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 = 232;
-  public static final String GIT_SHA = "6834ac1440a7b21915ba95c3c11ed8062bf92410";
-  public static final String GIT_DATE = "2024-04-10 20:52:01 EDT";
-  public static final String GIT_BRANCH = "Intake-fix";
-  public static final String BUILD_DATE = "2024-04-10 22:19:42 EDT";
-  public static final long BUILD_UNIX_TIME = 1712801982930L;
+  public static final int GIT_REVISION = 244;
+  public static final String GIT_SHA = "5ce2f3b8f1d5483a507c5cbc20b92d4f61692594";
+  public static final String GIT_DATE = "2024-04-11 16:44:34 EDT";
+  public static final String GIT_BRANCH = "main";
+  public static final String BUILD_DATE = "2024-04-11 17:48:27 EDT";
+  public static final long BUILD_UNIX_TIME = 1712872107510L;
   public static final int DIRTY = 1;
 
   private BuildConstants() {}

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -162,4 +162,11 @@ public static enum LED_STATE {
     FIRE,
     OFF
   }
+
+  public static enum SHOOT_STATE {
+    PIVOT_PRESET,
+    AIMBOT,
+    AMP,
+    TRAP
+  }
 }
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
diff --git a/src/main/java/frc/robot/commands/FollowPath.java b/src/main/java/frc/robot/commands/FollowPath.java
diff --git a/src/main/java/frc/robot/commands/InFeederLEDCheck.java b/src/main/java/frc/robot/commands/InFeederLEDCheck.java
diff --git a/src/main/java/frc/robot/commands/IntakeNote.java b/src/main/java/frc/robot/commands/IntakeNote.java
@@ -36,7 +36,8 @@ public void initialize() {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if (shooter.seesNote() == NoteState.CURRENT || shooter.seesNote() == NoteState.SENSOR) end(true);
+    if (shooter.seesNote() == NoteState.CURRENT || shooter.seesNote() == NoteState.SENSOR)
+      end(true);
   }
 
   // Called once the command ends or is interrupted.

diff --git a/src/main/java/frc/robot/commands/PivotClimb.java b/src/main/java/frc/robot/commands/PivotClimb.java
diff --git a/src/main/java/frc/robot/subsystems/Shooter/Shooter.java b/src/main/java/frc/robot/subsystems/Shooter/Shooter.java
@@ -7,7 +7,6 @@
 import edu.wpi.first.math.controller.SimpleMotorFeedforward;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.DriverStation.Alliance;
-import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
 import frc.robot.Constants.NoteState;
@@ -23,8 +22,6 @@ public class Shooter extends SubsystemBase {
   private DistanceSensorIO dist;
   private NoteState lastNoteState;
 
-  private double lastSeenNoteTime = 0;
-
   private final FlywheelIOInputsAutoLogged flyInputs = new FlywheelIOInputsAutoLogged();
   private final FeederIOInputsAutoLogged feedInputs = new FeederIOInputsAutoLogged();
   private final DistanceSensorIOInputsAutoLogged sInputs = new DistanceSensorIOInputsAutoLogged();
@@ -130,13 +127,13 @@ public void setFlywheelRPMSAmp() {
   }
 
   public double[] getFlywheelVelocitiesRPM() {
-    return new double[] { flyInputs.leftVelocityRPM, flyInputs.leftVelocityRPM };
+    return new double[] {flyInputs.leftVelocityRPM, flyInputs.leftVelocityRPM};
   }
 
   public double[] getFlywheelErrors() {
     return new double[] {
-        flyInputs.leftVelocitySetpointRPM - getFlywheelVelocitiesRPM()[0],
-        flyInputs.rightVelocitySetpointRPM - getFlywheelVelocitiesRPM()[1]
+      flyInputs.leftVelocitySetpointRPM - getFlywheelVelocitiesRPM()[0],
+      flyInputs.rightVelocitySetpointRPM - getFlywheelVelocitiesRPM()[1]
     };
   }
 

diff --git a/src/main/java/frc/robot/subsystems/pivot/Pivot.java b/src/main/java/frc/robot/subsystems/pivot/Pivot.java
@@ -9,6 +9,7 @@
 import edu.wpi.first.math.trajectory.TrapezoidProfile;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
+import frc.robot.Constants.SHOOT_STATE;
 import org.littletonrobotics.junction.Logger;
 
 public class Pivot extends SubsystemBase {
@@ -34,6 +35,7 @@ public class Pivot extends SubsystemBase {
   double goal;
 
   boolean isAimbot;
+  SHOOT_STATE shootState;
 
   private ArmFeedforward pivotFFModel;
 
@@ -66,6 +68,8 @@ public Pivot(PivotIO pivot) {
 
     isAimbot = true;
 
+    shootState = SHOOT_STATE.AIMBOT;
+
     maxVelocityDegPerSec = 150;
     maxAccelerationDegPerSecSquared = 226;
     // maxAccelerationDegPerSecSquared = 180;
@@ -126,6 +130,14 @@ public boolean isAimbot() {
     return isAimbot;
   }
 
+  public SHOOT_STATE getShootState() {
+    return shootState;
+  }
+
+  public void setShootState(SHOOT_STATE shootState) {
+    this.shootState = shootState;
+  }
+
   public void setAimbot(boolean isAimbot) {
     this.isAimbot = isAimbot;
   }