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Develop #4

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allanlzee
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allanlzee and others added 30 commits January 17, 2022 12:00
Will need to test collision threshold constant on the robot for better collision detection with fender.
May need to edit if there are pneumatics/indexer tiggers.
Will need to confirm with shooter prototype before finalizing the subsystem.
…stem.

Update the shooter based on 2022 robot design.
Shooting will require an indexer tigger system (possibly).
Updated Dashboard for the Shooter Subsystem.
These will monitor the motors used by the drivetrain and shooter subsystems.
allanlzee and others added 22 commits January 29, 2022 00:15
Changed access modifiers of motors, controllers, and subsystems from private to default.
Shooter is now operated with the operator controller instead of the driver controller.
The intake subsystem uses one Spark MAX motor to spin the mecanum wheels to roll the ball into the shooter path (indexer tigger).
Another Spark MAX motor is used to rotate an intake arm with PIDF control so the wheels touch the ball.
The shooter feeder subsystem will roll balls towards the shooter. This should be implemented in all shooting-related commands.
The color sensor will detect balls and run the belts accordingly.
Note that REVLib.json causes ./gradlew build errors with the Spark MAX motors, so REVColorSensorV3.json will be used instead of REVLib.json.
Added methods for changing the direction in which the feeder belts rotate.
This command rolls balls up to the color sensor. Based on the color of the ball, the feeder mechanism can discard the ball or move it towards the shooter.
The ball count should be used when intaking, rolling, and shooting balls.
This will allow PID controllers and their tuning values to be accessed via Shuffleboard.
…a command.

Added constructors for the custom shooter exception.
Fixed Merge Conflicts between the two branches.
One command drives the robot under the low bar and raises the climb subsystem to about halfway.
The second uses the hook to pull the robot upwards by rolling the winch.
The rolling done by the indexer is now controlled by the operator controller joystick.
The two bumpers on the operator controller are used for commands to drive and raise the climb mechanism.
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3 participants