updated presets and mapped more buttons

chopshop-166 · Feb 8, 2025 · e0d3208 · e0d3208
1 parent 67ff978
commit e0d3208
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Showing 3 changed files with 5 additions and 4 deletions.
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
@@ -126,7 +126,7 @@ public void configureButtonBindings() {
         driveController.leftBumper()
                 .whileTrue(drive.robotCentricDrive());
 
-        copilotController.a().onTrue(coralManip.intake());
+        copilotController.a().onTrue(commandSequences.intake());
 
         copilotController.x().whileTrue(commandSequences.moveElevator(ElevatorPresets.SCOREL1))
                 .onFalse(commandSequences.scoreL1());
@@ -136,7 +136,8 @@ public void configureButtonBindings() {
 
         copilotController.y().whileTrue(commandSequences.moveElevator(ElevatorPresets.SCOREL3))
                 .onFalse(commandSequences.score());
-
+        copilotController.leftBumper().whileTrue(commandSequences.moveElevator(ElevatorPresets.SCOREL4))
+                .onFalse(commandSequences.scoreL4());
         copilotController.back().onTrue(elevator.resetCmd());
         copilotController.start().onTrue(elevator.zero());
 

diff --git a/src/main/java/frc/robot/maps/ColdStart.java b/src/main/java/frc/robot/maps/ColdStart.java
@@ -144,7 +144,7 @@ public ElevatorMap getElevatorMap() {
         ElevatorFeedforward feedForward = new ElevatorFeedforward(0, 0.01, 0);
 
         return new ElevatorMap(leftMotor, leftMotor.getEncoder(),
-                new ElevatorMap.ElevatorPresetValues(19.5, 5, 18, 38, 0, 0, 0),
+                new ElevatorMap.ElevatorPresetValues(16, 5, 14, 29, 56, 57.5, 1),
                 new ValueRange(0, 57.5), new ValueRange(3, 53), pid, feedForward);
     }
 

diff --git a/src/main/java/frc/robot/subsystems/Drive.java b/src/main/java/frc/robot/subsystems/Drive.java
@@ -42,7 +42,7 @@ public class Drive extends LoggedSubsystem<SwerveDriveData, SwerveDriveMap> {
     private final double ROTATION_COEFFICIENT = 1;
     private final double ROTATION_KP = 0.05;
     private final double ROTATION_KS = 0.19;
-    final Modifier DEADBAND = Modifier.scalingDeadband(0.05);
+    final Modifier DEADBAND = Modifier.scalingDeadband(0.1);
 
     ProfiledPIDController rotationPID = new ProfiledPIDController(0.05, 0.0002, 0.000, new Constraints(240, 270));
     DoubleSupplier xSpeedSupplier;