First Deploy Testing and Debug (#83)

* Tested speeds for intake, stager, hopper, and shooter * Tuned Spiral Motor Speed * Update RobotContainer.java --------- Co-authored-by: FRCTeam3255-Shared <170778697+FRCTeam3255-Shared@users.noreply.github.com> Co-authored-by: Evan Grinnell <155865196+S0L0GUY@users.noreply.github.com>
FRCTeam3255 · Dec 27, 2024 · abcf41a · abcf41a
1 parent 2749723
commit abcf41a
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Showing 4 changed files with 27 additions and 22 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -30,25 +30,25 @@ public static class constLED {
   }
 
   public static class constIntake {
-    public static final double INTAKE_EJECT_VELOCITY = -0.5;
-    public static final double INTAKE_VELOCITY = 0.5;
+    public static final double INTAKE_EJECT_VELOCITY = 1;
+    public static final double INTAKE_VELOCITY = -1;
   }
 
   public static class constHopper {
-    public static final double HOPPER_ORIENTATION_SPEED = 0.5;
+    public static final double HOPPER_ORIENTATION_SPEED = 1;
   }
 
   public static class constShooter {
-    public static final double PROPEL_MOTOR_VELOCITY = 0.6;
-    public static final double SPIRAL_MOTOR_VELOCITY = 0.8;
+    public static final double PROPEL_MOTOR_VELOCITY = -0.8;
+    public static final double SPIRAL_MOTOR_VELOCITY = 0.9;
     public static final double PROPEL_MOTOR_VELOCITY_EJECT = 0.3;
     public static final double SPIRAL_MOTOR_VELOCITY_EJECT = 0.3;
     public static final double PROPEL_MOTOR_VELOCITY_EJECT_REQUIREMENT = 0.2;
     public static final double SPIRAL_MOTOR_VELOCITY_EJECT_REQUIREMENT = 0.2;
   }
 
   public static class constStager {
-    public static final double STAGER_MOTOR_VELOCITY = 0.3;
-    public static final double TOP_STAGER_MOTOR_VELOCITY = 0.3;
+    public static final double STAGER_MOTOR_VELOCITY = -.8;
+    public static final double TOP_STAGER_MOTOR_VELOCITY = -.8;
   }
 }
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -16,6 +16,7 @@
 import frc.robot.subsystems.LED;
 import frc.robot.subsystems.Shooter;
 import frc.robot.subsystems.Stager;
+import frc.robot.commands.EjectGP;
 
 public class RobotContainer {
   private final SN_XboxController m_driverController = new SN_XboxController(RobotMap.mapControllers.DRIVER_USB);
@@ -32,6 +33,7 @@ public class RobotContainer {
   private final Shoot com_Shoot = new Shoot(subStager, subShooter, subLED);
   private final intakeHopper com_IntakeHopper = new intakeHopper(subHopper, subStager, subLED);
   private final EjectShooter com_EjectShooter = new EjectShooter(subStager, subShooter, subLED);
+  private final EjectGP com_EjectGP = new EjectGP(subIntake, subLED);
 
   public RobotContainer() {
     subDrivetrain.setDefaultCommand(com_Drive);
@@ -42,10 +44,11 @@ public RobotContainer() {
 
   private void configureBindings() {
     m_driverController.btn_LeftTrigger.whileTrue(com_IntakeGround);
-    m_driverController.btn_A.onTrue(com_PrepShooter);
+    m_driverController.btn_A.whileTrue(com_PrepShooter);
     m_driverController.btn_B.whileTrue(com_IntakeHopper);
-    m_driverController.btn_LeftBumper.whileTrue(com_EjectShooter);
-    m_driverController.btn_RightTrigger.onTrue(com_Shoot);
+    m_driverController.btn_RightBumper.whileTrue(com_EjectShooter);
+    m_driverController.btn_RightTrigger.whileTrue(com_Shoot);
+    m_driverController.btn_LeftBumper.whileTrue(com_EjectGP);
 
   }
 

diff --git a/src/main/java/frc/robot/commands/Shoot.java b/src/main/java/frc/robot/commands/Shoot.java
@@ -27,16 +27,18 @@ public Shoot(Stager passedStager, Shooter passedShooter, LED shootLED) {
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-    globalShooter.setPropelMotorVelocity(Constants.constShooter.PROPEL_MOTOR_VELOCITY);
-    globalShooter.setSpiralMotorVelocity(Constants.constShooter.SPIRAL_MOTOR_VELOCITY);
-    if ((globalShooter.getPropelMotorVelocity() >= Constants.constShooter.PROPEL_MOTOR_VELOCITY)
-        && (globalShooter.getSpiralMotorVelocity() >= Constants.constShooter.SPIRAL_MOTOR_VELOCITY)) {
-      globalStager.setStagerMotorVelocity(Constants.constStager.STAGER_MOTOR_VELOCITY);
-      globalStager.setTopStagerMotorVelocity(Constants.constStager.TOP_STAGER_MOTOR_VELOCITY);
-      globalLED.setLEDs(constLED.LED_SHOOTING);
-    } else {
-      globalStager.setStagerMotorVelocityNuetralOutput();
-    }
+    // globalShooter.setPropelMotorVelocity(Constants.constShooter.PROPEL_MOTOR_VELOCITY);
+    // globalShooter.setSpiralMotorVelocity(Constants.constShooter.SPIRAL_MOTOR_VELOCITY);
+    // if ((globalShooter.getPropelMotorVelocity() >=
+    // Constants.constShooter.PROPEL_MOTOR_VELOCITY)
+    // && (globalShooter.getSpiralMotorVelocity() >=
+    // Constants.constShooter.SPIRAL_MOTOR_VELOCITY)) {
+    globalStager.setStagerMotorVelocity(Constants.constStager.STAGER_MOTOR_VELOCITY);
+    globalStager.setTopStagerMotorVelocity(Constants.constStager.TOP_STAGER_MOTOR_VELOCITY);
+    globalLED.setLEDs(constLED.LED_SHOOTING);
+    // } else {
+    // globalStager.setStagerMotorVelocityNuetralOutput();
+    // }
   }
 
   // Called every time the scheduler runs while the command is scheduled.

diff --git a/src/main/java/frc/robot/subsystems/Stager.java b/src/main/java/frc/robot/subsystems/Stager.java
@@ -39,12 +39,12 @@ public void setStagerMotorVelocityNuetralOutput() {
   }
 
   public boolean getHasGP() {
-    return hasGP.get();
+    return !hasGP.get();
   }
 
   @Override
   public void periodic() {
     // This method will be called once per scheduler run
-    SmartDashboard.putBoolean("hasGP", !getHasGP());
+    SmartDashboard.putBoolean("hasGP", getHasGP());
   }
 }