Tuesday fixes

RobotsByTheC · Mar 5, 2024 · 02e3a34 · 02e3a34
1 parent 2f0a6a0
commit 02e3a34
Show file tree

Hide file tree

Showing 4 changed files with 20 additions and 8 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -142,7 +142,7 @@ public static final class ModuleConstants {
 
   public static final class OIConstants {
     public static final int driverControllerPort = 1;
-    public static final double driveDeadband = 0.05;
+    public static final double driveDeadband = 1;
     public static final int leftJoystickPort = 2;
     public static final int rightJoystickPort = 3;
   }

diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
@@ -142,15 +142,16 @@ public void robotInit() {
    * {@link JoystickButton}.
    */
   private void configureButtonBindings() {
-    new JoystickButton(driverController, PS4Controller.Button.kR2.value)
+    new JoystickButton(driverController, PS4Controller.Button.kCross.value)
+    .and(DriverStation::isTeleop)
         .whileTrue(drive.setXCommand());
     new JoystickButton(driverController, PS4Controller.Button.kL1.value)
         .whileTrue(shooter.manualShootCommand().deadlineWith(leds.rainbowFlagScroll()));
-    new JoystickButton(driverController, PS4Controller.Button.kTriangle.value).whileTrue(intermediary.intermediaryCommand()).whileFalse(intermediary.intermediaryReverseCommand());
+    new JoystickButton(driverController, PS4Controller.Button.kTriangle.value).whileTrue(intermediary.intermediaryCommand()).whileTrue(intake.intakeCommand()).whileFalse(intermediary.intermediaryReverseCommand());
     new JoystickButton(driverController, PS4Controller.Button.kSquare.value)
         .whileTrue(
-            intake
-                .intakeCommand()
+            shooter
+                .ampCommand()
                 .deadlineWith(leds.blinkPurple()));
     new JoystickButton(driverController, PS4Controller.Button.kCross.value)
         .and(DriverStation::isTest)
@@ -161,8 +162,10 @@ private void configureButtonBindings() {
                 .andThen(drive.sysIdDynamic(Direction.kReverse))
                 .andThen(drive.sysIdQuasistatic(Direction.kReverse)));
     new JoystickButton(driverController, PS4Controller.Button.kCircle.value).whileTrue(intake.spinReverseCommand());
+    new JoystickButton(driverController, PS4Controller.Button.kR1.value).whileTrue(shooter.ampCommand());
   }
 
+
   /**
    * Gets the command to run in autonomous based on user selection in a dashboard.
    *

diff --git a/src/main/java/frc/robot/subsystems/drive/DriveSubsystem.java b/src/main/java/frc/robot/subsystems/drive/DriveSubsystem.java
@@ -268,8 +268,8 @@ public Command driveWithJoysticks(DoubleSupplier x, DoubleSupplier y, DoubleSupp
     var omegaSpeed = MutableMeasure.zero(RadiansPerSecond);
 
     return run(() -> {
-          xSpeed.mut_setMagnitude(-x.getAsDouble() * DriveConstants.maxSpeed.in(MetersPerSecond));
-          ySpeed.mut_setMagnitude(-y.getAsDouble() * DriveConstants.maxSpeed.in(MetersPerSecond));
+          xSpeed.mut_setMagnitude(MathUtil.applyDeadband(x.getAsDouble(), 0.01)  * DriveConstants.maxSpeed.in(MetersPerSecond));
+          ySpeed.mut_setMagnitude(MathUtil.applyDeadband(y.getAsDouble(), 0.01)  * DriveConstants.maxSpeed.in(MetersPerSecond));
           omegaSpeed.mut_setMagnitude(
               -omega.getAsDouble() * DriveConstants.maxAngularSpeed.in(RadiansPerSecond));
 

diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterSubsystem.java b/src/main/java/frc/robot/subsystems/shooter/ShooterSubsystem.java
@@ -23,10 +23,15 @@ public ShooterSubsystem() {
   public void spin() {
     // spark.setVoltage(SmartDashboard.getNumber("Spin voltage", 0));
     rSpark.setVoltage(12);
-    lSpark.setVoltage(12);
+    lSpark.setVoltage(11);
     System.out.println("spinning motors");
   }
 
+  public void ampShot() {
+    rSpark.setVoltage(3);
+    lSpark.setVoltage(2);
+  }
+
   public void stopSpin() {
     rSpark.set(0);
     lSpark.set(0);
@@ -59,6 +64,10 @@ public Command stopSpinCommand() {
     return runOnce(this::stopSpin);
   }
 
+  public Command ampCommand() {
+    return run(this::ampShot).finallyDo(interrupted -> stopSpin());
+  }
+
   @Override
   public void periodic() {
     SmartDashboard.putNumber("Left velocity", lSpark.getEncoder().getVelocity());