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titan2022 · Mar 16, 2024 · 5b7016a · 5b7016a
1 parent 9911301
commit 5b7016a
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Showing 2 changed files with 9 additions and 9 deletions.
diff --git a/src/main/java/frc/robot/commands/auto/SimpleAutoPlanLeft.java b/src/main/java/frc/robot/commands/auto/SimpleAutoPlanLeft.java
@@ -25,7 +25,7 @@
 /** An example command that uses an example subsystem. */
 public class SimpleAutoPlanLeft extends SequentialCommandGroup {
     @SuppressWarnings({ "PMD.UnusedPrivateField", "PMD.SingularField" })
-    public static double SHOOT_SPEAKER_SPEED = 0.5;
+    public static double SHOOT_SPEAKER_SPEED = 0.7;
     public static final double SPEAKER_HEIGHT = 2 * METERS;
     public static Rotation2d SHOOT_ANGLE = Rotation2d.fromDegrees(60);
     public static double MOVE_SPEED = 1;
@@ -41,11 +41,11 @@ public SimpleAutoPlanLeft(TranslationalDrivebase translational, RotationalDriveb
 
         addCommands(
             new RotateShooterCommand(SHOOT_ANGLE, shooter),
-            // new WaitCommand(1.0),
-            new SimpleShootCommand(SHOOT_SPEAKER_SPEED, shooter, indexer),
-            new TranslationCommand(new Translation2d(0, 3), MOVE_SPEED, translational),
-            new RotationCommand(Rotation2d.fromDegrees(sign * 45), rotational, localizer),
-            new TranslationCommand(new Translation2d(0, 5), MOVE_SPEED, translational)
+            new WaitCommand(1.0),
+            new SimpleShootCommand(SHOOT_SPEAKER_SPEED, shooter, indexer)
+            // new TranslationCommand(new Translation2d(0, 3), MOVE_SPEED, translational),
+            // new RotationCommand(Rotation2d.fromDegrees(sign * 45), rotational, localizer),
+            // new TranslationCommand(new Translation2d(0, 5), MOVE_SPEED, translational)
 
             // new TranslationCommand(new Translation2d(sign * 0, 0.5), 1, translational),
             // new RotationCommand(Rotation2d.fromDegrees(45).times(-sign), rotational, localizer),

diff --git a/src/main/java/frc/robot/commands/shooter/ShooterControlCommand.java b/src/main/java/frc/robot/commands/shooter/ShooterControlCommand.java
@@ -35,7 +35,7 @@ public ShooterControlCommand(ShooterSubsystem shooter, IndexerSubsystem indexer,
     @Override
     public void initialize() {
         SmartDashboard.putNumber("targetAngle", ShooterSubsystem.MIN_ANGLE);
-        shooter.setRotation(55 * DEG);
+        // shooter.setRotation(55 * DEG);
 
         angleLog = new DoubleLogEntry(log, "/my/angle");
         shotLog = new BooleanLogEntry(log, "/my/shot");
@@ -45,7 +45,7 @@ public void initialize() {
     public void execute() {
         if (Math.abs(xbox.getRightY()) > 0.1) {
             shooterAngle += -xbox.getRightY() * 80 * DEG * 0.02;// = SmartDashboard.getNumber("targetAngle", ShooterSubsystem.MIN_ANGLE);
-            shooterAngle = Math.min(shooterAngle, ShooterSubsystem.MAX_ANGLE);
+            shooterAngle = Math.min(shooterAngle, ShooterSubsystem.MAX_ANGLE - 0.1);
             shooterAngle = Math.max(shooterAngle, ShooterSubsystem.MIN_ANGLE);
 
             // shooter.setRotation(55 * DEG);
@@ -56,7 +56,7 @@ public void execute() {
 
 
         if (xbox.getRightTriggerAxis() > 0.5) {
-            double shooterMag = 0.8;//xbox.getRightTriggerAxis() * 0.5 * shooterDir;
+            double shooterMag = 0.7;//xbox.getRightTriggerAxis() * 0.5 * shooterDir;
             shooter.shoot(shooterMag);
             shotLog.append(true);
             angleLog.append(shooterAngle);