This is the rework code for FRC Team 2791, Shaker Robotics Created by Akhil Jacob(akhilcjacob.public@gmail.com)
CONTROLS: Driver:
GTA control(Default, Recommended): RT - forward, LT - Backward, LS(x axis) - spin
Arcade control(bug in code, no one uses so no one ever fixed it): LS - forward, RS - spin
Single Arcade control(bug in code, no one uses so no one ever fixed it): LS - forward(Y Axis)/spin(X axis)
Cheval Arm: Button Y
Dpad Left: Use one frame to lineup but no shooting
Dpad Right: Full vision shot(multiple frames, and fire, high accuracy)
Notes: vision shot will be canceled if the driver touches trys to move the driveTrain
Operator:
Start Button: cancel shooter pids, and vision shots
Select Button: switch between vision tracking mode and regular mode on the camera(defaults on vision tracking)
Dpad Left: force extend intake
Dpad Up/Right/Down: Move arm up/middle/down
RS Button: Prep the shot(runs the shooter wheels but doesn't shoot)
LS Button: Full vision shot but uses a higher amount of error tolerance(use LB, seen lower)
Button A: Shoot, automatically switches speeds depending on arm angle
Button Y: Cheval Arm actuation
Button X: Outake from intake using shooter wheels and intake wheels
Button B: Intake from intake using shooter wheels and intake wheels
Button LB: Full vision shot but lower vision error to force higher accuracy
Button RB: Moves the servo arm, and if shooting it skips on waiting for pid
Axis RT: Run shooter wheels outward
Axis LT: Run shooter wheels inward
Side Notes:
-After a shot the shooter arm will drop this is used when in competition to be ready for the next shot right
away
-Once again, an attempt to move the drive train while vision shot is running will cause the vision shot to end
-intake should automatically move out of the way for the shooter