Changes from testing 6/21/24 #79
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BrandonS09
approved these changes
Jun 21, 2024
brettle
reviewed
Jun 21, 2024
| // Intake Led | ||
| if((intake.intakeDetectsNote())) { | ||
| intake.motorSetIntake(.1); // Slower intake speed triggered after intake ds sees note | ||
| intake.motorSetIntake(.3); // Slower intake speed triggered after intake ds sees note |
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Consider getting this from SmartDashboard until you find a good value.
brettle
reviewed
Jun 21, 2024
| // moduleBR.periodic(); | ||
| // double goal = SmartDashboard.getNumber("bigoal", 0); | ||
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| SmartDashboard.putData(this); |
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This should be in the constructor (or in RobotContainer).
FriedLongJohns
requested changes
Jun 23, 2024
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I am unable to simulate this at all - odometry seems to be broken for some reason?
Can others vouch for the code being able to work?
Error at org.carlmontrobotics.subsystems.Drivetrain.getPose(Drivetrain.java:538): Unhandled exception: java.lang.NullPointerException: Cannot invoke "edu.wpi.first.math.kinematics.SwerveDriveOdometry.getPoseMeters()" because "this.odometry" is null
at org.carlmontrobotics.subsystems.Drivetrain.getPose(Drivetrain.java:538)
at org.carlmontrobotics.subsystems.Drivetrain.lambda$initSendable$4(Drivetrain.java:333)
at edu.wpi.first.wpilibj.smartdashboard.SendableBuilderImpl.lambda$addDoubleProperty$6(SendableBuilderImpl.java:430)
at edu.wpi.first.wpilibj.smartdashboard.SendableBuilderImpl$Property.update(SendableBuilderImpl.java:90)
at edu.wpi.first.wpilibj.smartdashboard.SendableBuilderImpl.update(SendableBuilderImpl.java:185)
at edu.wpi.first.util.sendable.SendableRegistry.publish(SendableRegistry.java:474)
at edu.wpi.first.wpilibj.smartdashboard.SmartDashboard.putData(SmartDashboard.java:79)
at edu.wpi.first.wpilibj.smartdashboard.SmartDashboard.putData(SmartDashboard.java:96)
at org.carlmontrobotics.subsystems.Drivetrain.<init>(Drivetrain.java:211)
at org.carlmontrobotics.RobotContainer.<init>(RobotContainer.java:77)
at org.carlmontrobotics.Robot.robotInit(Robot.java:27)
at edu.wpi.first.wpilibj.TimedRobot.startCompetition(TimedRobot.java:107)
at edu.wpi.first.wpilibj.RobotBase.runRobot(RobotBase.java:365)
at edu.wpi.first.wpilibj.RobotBase.lambda$startRobot$0(RobotBase.java:433)
at java.base/java.lang.Thread.run(Thread.java:840)
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Can confirm. I have the same issue with simulation. Since worksession is coming up soon and the bug only affects simulation, I will merge this for now. I will put in an issue for now. |
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Currently, the intake doesn't have enough power to keep intaking once the intake distance sensor detects the note and slows down. We suspect it's because they are now using the gear intake design. The modification to the intake speed has never been tested, but it's a "guess" to fix this issue.