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Merged
merged 3 commits into from
Jun 23, 2024
Merged

Changes from testing 6/21/24 #79

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a7f3d93
Changes from testing 6/21/24
ProfessorAtomicManiac Jun 21, 2024
af74410
Added SmartDashboard for intake tuning
ProfessorAtomicManiac Jun 21, 2024
583872d
moved putData to constructor
ProfessorAtomicManiac Jun 21, 2024
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3 changes: 1 addition & 2 deletions src/main/java/org/carlmontrobotics/RobotContainer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -193,8 +193,7 @@ private void setBindingsDriver() {
.onFalse(new InstantCommand(()->drivetrain.setFieldOriented(true)));

axisTrigger(driverController, Manipulator.SHOOTER_BUTTON)
.whileTrue(new SequentialCommandGroup(new PrintCommand("Running Intake"),
new IntakeNEO(intakeShooter)));
.whileTrue(new AlignToApriltagMegatag2(drivetrain, limelight));
new JoystickButton(driverController, Driver.rotateFieldRelative0Deg)
.onTrue(new RotateToFieldRelativeAngle(Rotation2d.fromDegrees(0), drivetrain));
new JoystickButton(driverController, Driver.rotateFieldRelative90Deg)
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16 changes: 11 additions & 5 deletions src/main/java/org/carlmontrobotics/commands/IntakeNEO.java
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Expand Up @@ -14,6 +14,8 @@ public class IntakeNEO extends Command {

public IntakeNEO(IntakeShooter intake) {
addRequirements(this.intake = intake);
SmartDashboard.putNumber("Initial intake speed", .5);
SmartDashboard.putNumber("Slow intake speed", .1);
}

@Override
Expand All @@ -22,26 +24,30 @@ public void initialize() {
// if (intake.intakeDetectsNote()) {
// return;
// }
intake.motorSetIntake(.5); // Fast intake speed for initial intake

intake.motorSetIntake(SmartDashboard.getNumber("Initial intake speed", 0)); // Fast intake speed
// for initial
// intake
intake.resetCurrentLimit();

}

// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
// Intake Led
if((intake.intakeDetectsNote())) {
intake.motorSetIntake(.1); // Slower intake speed triggered after intake ds sees note
if ((intake.intakeDetectsNote())) {
intake.motorSetIntake(SmartDashboard.getNumber("Slow intake speed", 0)); // Slower intake
// speed triggered
// after intake ds
// sees note
}
}

// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
intake.stopIntake();
//intake.resetCurrentLimit();
// intake.resetCurrentLimit();
}

// Returns true when the command should end.
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18 changes: 11 additions & 7 deletions src/main/java/org/carlmontrobotics/subsystems/Drivetrain.java
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Original file line number Diff line number Diff line change
Expand Up @@ -208,6 +208,7 @@ public Drivetrain() {
}

SmartDashboard.putData("Field", field);
SmartDashboard.putData(this);

// for(CANSparkMax driveMotor : driveMotors)
// driveMotor.setSmartCurrentLimit(80);
Expand Down Expand Up @@ -286,7 +287,6 @@ public void periodic() {
// moduleBL.periodic();
// moduleBR.periodic();
// double goal = SmartDashboard.getNumber("bigoal", 0);

for (SwerveModule module : modules) {
module.periodic();
// module.move(0, goal);
Expand All @@ -298,12 +298,7 @@ public void periodic() {
odometry.update(gyro.getRotation2d(), getModulePositions());
//odometry.update(Rotation2d.fromDegrees(getHeading()), getModulePositions());

{
// SmartDashboard.putNumber("front left encoder", moduleFL.getModuleAngle());
// SmartDashboard.putNumber("front right encoder", moduleFR.getModuleAngle());
// SmartDashboard.putNumber("back left encoder", moduleBL.getModuleAngle());
// SmartDashboard.putNumber("back right encoder", moduleBR.getModuleAngle());
}

//setPose(new Pose2d(SmartDashboard.getNumber("set x", getPose().getTranslation().getX()), SmartDashboard.getNumber("set y", getPose().getTranslation().getY()), Rotation2d.fromDegrees(getHeading())));
// SmartDashboard.putNumber("Odometry X", getPose().getTranslation().getX());
// SmartDashboard.putNumber("Odometry Y", getPose().getTranslation().getY());
Expand Down Expand Up @@ -345,6 +340,15 @@ public void initSendable(SendableBuilder builder) {
builder.addDoubleProperty("Roll", gyro::getRoll, null);
builder.addDoubleProperty("Field Offset", () -> fieldOffset, fieldOffset ->
this.fieldOffset = fieldOffset);
builder.addDoubleProperty("FL Turn Encoder (Deg)",
() -> moduleFL.getModuleAngle(), null);
builder.addDoubleProperty("FR Turn Encoder (Deg)",
() -> moduleFR.getModuleAngle(), null);
builder.addDoubleProperty("BL Turn Encoder (Deg)",
() -> moduleBL.getModuleAngle(), null);
builder.addDoubleProperty("BR Turn Encoder (Deg)",
() -> moduleBR.getModuleAngle(), null);

}

// #region Drive Methods
Expand Down