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Fix/intake #24

Merged
merged 9 commits into from
Mar 8, 2024
Merged

Fix/intake #24

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11f9b0c
Update Dump Control, sushi speeds
OakvilleDynamicsProgrammer Feb 25, 2024
b029644
Update Constants.java
OakvilleDynamicsProgrammer Feb 26, 2024
640685f
Merge branch 'coop-sat/2-24-2024' into fix/intake
OakvilleDynamicsProgrammer Feb 26, 2024
f2873ee
Update Constants.java
OakvilleDynamicsProgrammer Feb 26, 2024
71f19f5
make swerve not chatter
OakvilleDynamicsProgrammer Feb 29, 2024
c34ade4
Update swerve controls
garrettsummerfi3ld Mar 1, 2024
82c0640
Revert IMU back to normal operations
OakvilleDynamicsProgrammer Mar 4, 2024
32b7e6d
Add flywheels
OakvilleDynamicsProgrammer Mar 5, 2024
624c997
Update flywheel speeds
OakvilleDynamicsProgrammer Mar 6, 2024
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4 changes: 2 additions & 2 deletions src/main/deploy/swerve/controllerproperties.json
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Are the PIDs and deadbands correct? The deadband now becomes hyper sensitive and the derivative heading is now zero.

Original file line number Diff line number Diff line change
@@ -1,8 +1,8 @@
{
"angleJoystickRadiusDeadband": 0.25,
"angleJoystickRadiusDeadband": 0.05,
"heading": {
"p": 0.4,
"i": 0,
"d": 0.01
"d": 0
}
}
4 changes: 2 additions & 2 deletions src/main/deploy/swerve/modules/backleft.json
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
{
"location": {
"front": -13.5,
"left": 13.5
"front": -11,
"left": 11
},
"absoluteEncoderOffset": 276.15234375,
"drive": {
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4 changes: 2 additions & 2 deletions src/main/deploy/swerve/modules/backright.json
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
{
"location": {
"front": -13.5,
"left": -13.5
"front": -11,
"left": -11
},
"absoluteEncoderOffset": 299.267578125,
"drive": {
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4 changes: 2 additions & 2 deletions src/main/deploy/swerve/modules/frontleft.json
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
{
"location": {
"front": 13.5,
"left": 13.5
"front": 11,
"left": 11
},
"absoluteEncoderOffset": 357.978515625,
"drive": {
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4 changes: 2 additions & 2 deletions src/main/deploy/swerve/modules/frontright.json
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
{
"location": {
"front": 13.5,
"left": -13.5
"front": 11,
"left": -11
},
"absoluteEncoderOffset": 52.91015625,
"drive": {
Expand Down
2 changes: 1 addition & 1 deletion src/main/deploy/swerve/modules/physicalproperties.json
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Why is the ramp rate zero? Is it viable to have the angle motors always run full speed instead of not ramping up to full speed?

Original file line number Diff line number Diff line change
Expand Up @@ -11,6 +11,6 @@
},
"rampRate": {
"drive": 0.25,
"angle": 0.25
"angle": 0
}
}
2 changes: 1 addition & 1 deletion src/main/deploy/swerve/swervedrive.json
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Why was the IMU inverted? Doesn't the navX configuration require the navX to be inverted regardless?

Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,7 @@
"id": 0,
"canbus": null
},
"invertedIMU": true,
"invertedIMU": false,
"modules": [
"frontleft.json",
"frontright.json",
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6 changes: 3 additions & 3 deletions src/main/java/frc/robot/Constants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -76,14 +76,14 @@ public static class MechanismConstants {
public static final int INTAKE_MOTOR_FRONT = 52;
public static final boolean INTAKE_MOTOR_SUSHI_INVERTED = true;
public static final boolean INTAKE_MOTOR_FRONT_INVERTED = false;
public static final double INTAKE_MOTOR_SPEED_FRONT = 0.8;
public static final double INTAKE_MOTOR_SPEED_FRONT = 0.2;
public static final double INTAKE_MOTOR_SPEED_SUSHI = 0.8;

// Conveyor Motors
public static final int CONVEYOR_MOTOR_1 = 1;
public static final int CONVEYOR_MOTOR_2 = 2;
public static final boolean CONVEYOR_MOTOR_1_INVERTED = true;
public static final boolean CONVEYOR_MOTOR_2_INVERTED = true;
public static final double CONVEYOR_MOTOR_SPEED = 0.30;
public static final boolean CONVEYOR_MOTOR_2_INVERTED = false;
public static final double CONVEYOR_MOTOR_SPEED = 0.38;
}
}
6 changes: 3 additions & 3 deletions src/main/java/frc/robot/RobotContainer.java
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None of these changes except for changing the default command actually do anything. Are you sure this was intentional?

Original file line number Diff line number Diff line change
Expand Up @@ -61,7 +61,7 @@ public RobotContainer() {
// Configure the trigger bindings
configureBindings();

AbsoluteDriveAdv closedAbsoluteDriveAdv =
final AbsoluteDriveAdv closedAbsoluteDriveAdv =
new AbsoluteDriveAdv(
drivebase,
() -> MathUtil.applyDeadband(driverXbox.getLeftY(), OperatorConstants.LEFT_Y_DEADBAND),
Expand Down Expand Up @@ -94,15 +94,15 @@ public RobotContainer() {
drivebase.driveCommand(
() -> MathUtil.applyDeadband(driverXbox.getLeftY(), OperatorConstants.LEFT_Y_DEADBAND),
() -> MathUtil.applyDeadband(driverXbox.getLeftX(), OperatorConstants.LEFT_X_DEADBAND),
() -> driverXbox.getRawAxis(2));
() -> driverXbox.getRightX() * 0.5);

Command driveFieldOrientedDirectAngleSim =
drivebase.simDriveCommand(
() -> MathUtil.applyDeadband(driverXbox.getLeftY(), OperatorConstants.LEFT_Y_DEADBAND),
() -> MathUtil.applyDeadband(driverXbox.getLeftX(), OperatorConstants.LEFT_X_DEADBAND),
() -> driverXbox.getRawAxis(2));

drivebase.setDefaultCommand(closedAbsoluteDriveAdv);
drivebase.setDefaultCommand(driveFieldOrientedDirectAngle);
}

/**
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2 changes: 1 addition & 1 deletion src/main/java/frc/robot/commands/DumpControl.java
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Original file line number Diff line number Diff line change
Expand Up @@ -31,7 +31,7 @@ public void initialize() {}
public void execute() {
// TODO: Change this to the correct button
if (DumpJoystick.getRawButton(1)) {
DumpSubsystem.openThenClose();
DumpSubsystem.open();
// TODO: Change this to the correct button
} else if (DumpJoystick.getRawButton(2)) {
DumpSubsystem.close();
Expand Down
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