shooter + feeder testing 02/08

blair-robot-project · Feb 9, 2024 · 439c6e2 · 439c6e2
1 parent ab5752c
commit 439c6e2
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Showing 7 changed files with 29 additions and 20 deletions.
diff --git a/src/main/kotlin/frc/team449/robot2024/constants/drives/SwerveConstants.kt b/src/main/kotlin/frc/team449/robot2024/constants/drives/SwerveConstants.kt
@@ -49,7 +49,7 @@ object SwerveConstants {
   const val DRIVE_GEARING = (14.0 / 50.0) * (28.0 / 16.0) * (15.0 / 45.0)
   const val DRIVE_UPR = 0.31818905832
   const val TURN_UPR = 2 * Math.PI
-  const val MAX_ATTAINABLE_MK4I_SPEED = 0.01
+  const val MAX_ATTAINABLE_MK4I_SPEED = (12 - DRIVE_KS) / DRIVE_KV
   const val DRIVE_CURRENT_LIM = 55
   const val STEERING_CURRENT_LIM = 40
   const val JOYSTICK_FILTER_ORDER = 2

diff --git a/src/main/kotlin/frc/team449/robot2024/constants/subsystem/FeederConstants.kt b/src/main/kotlin/frc/team449/robot2024/constants/subsystem/FeederConstants.kt
@@ -5,6 +5,8 @@ object FeederConstants {
   const val INVERTED = true
   const val CURRENT_LIM = 20
 
+  const val GEARING = 1.0 / 9.0
+
   const val INTAKE_VOLTAGE = 12.0
   const val REVERSE_VOLTAGE = -5.0
 }
diff --git a/src/main/kotlin/frc/team449/robot2024/constants/subsystem/ShooterConstants.kt b/src/main/kotlin/frc/team449/robot2024/constants/subsystem/ShooterConstants.kt
@@ -25,7 +25,7 @@ object ShooterConstants {
   const val RIGHT_KS = 0.0
 
   const val AMP_SCORE_VOLTAGE = 4.0
-  const val DURING_INTAKE_VOLTAGE = -3.0
+  const val DURING_INTAKE_VOLTAGE = -1.0
 
   /** In meters from the ground */
   const val SHOOTER_HEIGHT = 0.25

diff --git a/src/main/kotlin/frc/team449/robot2024/constants/subsystem/UndertakerConstants.kt b/src/main/kotlin/frc/team449/robot2024/constants/subsystem/UndertakerConstants.kt
@@ -7,6 +7,8 @@ object UndertakerConstants {
   const val INVERTED = true
   const val CURRENT_LIM = 40
 
-  const val INTAKE_VOLTAGE = 8.0
-  const val REVERSE_VOLTAGE = -6.0
+  const val GEARING = 1.0 / 3.0
+
+  const val INTAKE_VOLTAGE = 12.0
+  const val REVERSE_VOLTAGE = -12.0
 }
diff --git a/src/main/kotlin/frc/team449/robot2024/subsystems/ControllerBindings.kt b/src/main/kotlin/frc/team449/robot2024/subsystems/ControllerBindings.kt
@@ -26,21 +26,26 @@ class ControllerBindings(
     FieldConstants.SUBWOOFER_POSE
   )
 
+  val intakeCommand = ConditionalCommand(
+    ParallelCommandGroup(
+      robot.undertaker.intake(),
+      robot.feeder.intake(),
+      robot.shooter.duringIntake()
+    ),
+    ParallelCommandGroup(
+      robot.undertaker.stop(),
+      robot.feeder.stop(),
+      robot.shooter.stop()
+    )
+  ) { robot.infrared.get() }
+
   private fun robotBindings() {
-    driveController.rightBumper().onTrue(
-      if (!robot.infrared.get()) {
-        ParallelCommandGroup(
-          robot.undertaker.intake(),
-          robot.feeder.intake(),
-          robot.shooter.duringIntake()
-        )
-      } else {
-        ParallelCommandGroup(
-          robot.undertaker.stop(),
-          robot.feeder.stop(),
-          robot.shooter.stop()
-        )
-      }
+    driveController.rightBumper().whileTrue(
+      ParallelCommandGroup(
+        robot.undertaker.intake(),
+        robot.feeder.intake(),
+        robot.shooter.shootSubwoofer()
+      )
     ).onFalse(
       ParallelCommandGroup(
         robot.undertaker.stop(),

diff --git a/src/main/kotlin/frc/team449/robot2024/subsystems/Feeder.kt b/src/main/kotlin/frc/team449/robot2024/subsystems/Feeder.kt
@@ -42,7 +42,7 @@ class Feeder(
         FeederConstants.MOTOR_ID,
         NEOEncoder.creator(
           1.0,
-          1.0
+          FeederConstants.GEARING
         ),
         inverted = FeederConstants.INVERTED,
         currentLimit = FeederConstants.CURRENT_LIM,

diff --git a/src/main/kotlin/frc/team449/robot2024/subsystems/Undertaker.kt b/src/main/kotlin/frc/team449/robot2024/subsystems/Undertaker.kt
@@ -42,7 +42,7 @@ class Undertaker(
         UndertakerConstants.MOTOR_ID,
         NEOEncoder.creator(
           1.0,
-          1.0
+          UndertakerConstants.GEARING
         ),
         inverted = UndertakerConstants.INVERTED,
         currentLimit = UndertakerConstants.CURRENT_LIM,