Sensors test #38
Sensors test #38
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| @@ -79,37 +80,60 @@ public void robotInit() { | |||
| }, Set.of(algaeArm)); | |||
| algaeArm.setDefaultCommand(checkIfAlgaeRetract); | |||
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| Command checkIfLow = Commands.defer(()-> { | |||
| /* Command checkIfLow = Commands.defer(()-> { | |||
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Delete all the commented-out code that is no longer necessary
| @@ -141,6 +165,7 @@ public void disabledExit() { | |||
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| @Override | |||
| public void teleopInit() { | |||
| compressor.enableAnalog(RobotMap.MIN_PRESSURE,RobotMap.MAX_PRESSURE); | |||
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this is already done in robotInit. Why again here?
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| public class CollectCoral extends Command { | ||
| public CoralGripper coralGripper; | ||
| Instant previousTime = null; |
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don't use Instant as it uses the less trusty system clock. Use Timer.getFPGATimestamp() instead.
| public class ReleaseAlgae extends Command { | ||
| private final AlgaeGripper algaeGripper; | ||
| Instant previousTime = null; |
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don't use Instant as it uses the less trusty system clock. Use Timer.getFPGATimestamp() instead.
| public class ReleaseCoral extends Command { | ||
| public CoralGripper coralGripper; | ||
| Instant previousTime = null; |
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don't use Instant as it uses the less trusty system clock. Use Timer.getFPGATimestamp() instead.
| } | ||
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| public void raise() { | ||
| piston1.set(DoubleSolenoid.Value.kForward); | ||
| piston2.set(DoubleSolenoid.Value.kForward); | ||
| //piston2.set(DoubleSolenoid.Value.kForward); |
| @@ -30,6 +31,7 @@ public class CoralGripper extends SubsystemBase { | |||
| public CoralGripper() { | |||
| motor = new TalonFX(RobotMap.CORAL_GRIPPER_MOTOR); | |||
| motor.getConfigurator().apply(new TalonFXConfiguration()); | |||
| motor.setNeutralMode(NeutralModeValue.Brake); | |||
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don't set it like that, use the configuration
TalonFXConfiguration config = new TalonFXConfiguration();
config.MotorOutput.NeutralMode = NeutralModeValue.Brake;
motor.getConfigurator().apply(config);| } | ||
| return Optional.empty(); | ||
| } | ||
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| public Optional<Double> frontTargetAngle(){ |
| LimelightHelpers.RawFiducial[] fiducials = LimelightHelpers.getRawFiducials(name); | ||
| if(fiducials.length >0) | ||
| return fiducials[0].distToRobot; | ||
| return 3; |
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why 3? that is a lie, but it may fool someone into thinking the real distance is 3, return a number indicating an invalid value.
Either a negative value, optional, or if you want your trick to still work, return Double.MAX_VALUE
| algaeGripper.setDefaultCommand(checkAlgae); | ||
| algaeGripper.setDefaultCommand(checkAlgae);*/ | ||
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| new JoystickButton(xbox, XboxController.Button.kY.value) |
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not all the command groups are attached to buttons.
# Conflicts: # src/main/java/frc/robot/Limelight.java # src/main/java/frc/robot/Robot.java # src/main/java/frc/robot/subsystems/VisionSystem.java
# Conflicts: # src/main/java/frc/robot/Robot.java
…value seems good.
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