Merge Oregon State Fair changes #3
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New intake is now fully functional. Added a few commands to facilitate the control of the intake. Most SmartDashboard.put* calls were also commented out to avoid cluttering the driver station. Modified shooter feedforward a bit, but we still need to dial it in.
Added some delays to TaxiThenShoot auto, as well as added intake homing as the first thing. Adjusted climb timings. Add an adjustable RPM offset to ShooterSubsystem. Change the behavior for ShooterMath.calculateRPM so that if the Limelight picks up a target outside of its calibrated range, it reverts to the default RPM.
We had some trouble getting the secondary to rumble, so we should probably check if that's an issue with the controller or just how we rumble it. The compressor is now enabled when telop starts (maybe) because we were having some issues with it not running, but that might have been due to it being at pressure.
Intake and indexer constants were also split up in Constants.java.
A bunch of files (mostly commands) were deleted since they weren't used anymore. TurnToAngleProfiled was renamed to TurnDegrees to better reflect what it actually does. Smart Motion turn-related constants were removed as well since they were unreliable & we got the NavX working pretty well. I'm also trying to remove old TODO comments, so some of those were deleted.
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| private double m_power; | |||
| private final Timer m_timer = new Timer(); | |||
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| // TODO: Rewrite this command to be more accurate | |||
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What is inaccurate about it?
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We don't account for the acceleration in the beginning which might throw off the calculated kV value? I'm not entire sure though.
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We're talking about a simple TimeRotation command, which uses ArcadeDrive internally...it's not doing Profiled path following / feed forward.
Rather than returning the default RPM for y-angles outside of the calibrated range, it now returns the RPMs at the bound of that range (if that makes sense). Also applied Spotless, which reformatted a couple of unrelated files.
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I'll probably also test this on the bot tomorrow to make sure I didn't break anything :) |
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Everything seems to be working (I didn't test climb but I didn't make any changes to it beyond during competition). Merging it now :) |
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Here's a short summary of what was changed:
SmartDashboard.put*calls were commented out to avoid cluttering the dashboardI'll probably do some clean-up before finalizing this as well.