Merge pull request #77 from SciBorgs/dod

Dod
SciBorgs · Jun 27, 2024 · 1ba87d8 · 1ba87d8
2 parents fce64f4 + a7dc7f3
commit 1ba87d8
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Showing 12 changed files with 12,637 additions and 9,890 deletions.
diff --git a/choreo.chor b/choreo.chor
diff --git a/src/main/deploy/choreo/Source 4 Note.1.traj b/src/main/deploy/choreo/Source 4 Note.1.traj
diff --git a/src/main/deploy/choreo/Source 4 Note.2.traj b/src/main/deploy/choreo/Source 4 Note.2.traj
diff --git a/src/main/deploy/choreo/Source 4 Note.3.traj b/src/main/deploy/choreo/Source 4 Note.3.traj
diff --git a/src/main/deploy/choreo/Source 4 Note.traj b/src/main/deploy/choreo/Source 4 Note.traj
diff --git a/src/main/deploy/pathplanner/autos/Source 4 Note.auto b/src/main/deploy/pathplanner/autos/Source 4 Note.auto
@@ -14,7 +14,7 @@
         {
           "type": "named",
           "data": {
-            "name": "shoot-pivot-only"
+            "name": "shoot-subwoofer"
           }
         },
         {
@@ -46,7 +46,7 @@
                     {
                       "type": "wait",
                       "data": {
-                        "waitTime": 0.5
+                        "waitTime": 0.7
                       }
                     },
                     {
@@ -96,7 +96,7 @@
                     {
                       "type": "wait",
                       "data": {
-                        "waitTime": 0.5
+                        "waitTime": 0.7
                       }
                     },
                     {

diff --git a/src/main/deploy/pathplanner/autos/Source 5 Note.auto b/src/main/deploy/pathplanner/autos/Source 5 Note.auto
@@ -14,7 +14,7 @@
         {
           "type": "named",
           "data": {
-            "name": "shoot-pivot-only"
+            "name": "shoot-subwoofer"
           }
         },
         {

diff --git a/src/main/deploy/pathplanner/autos/amp 1 note.auto b/src/main/deploy/pathplanner/autos/amp 1 note.auto
@@ -0,0 +1,25 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 0.6769374112178659,
+      "y": 4.380056190402963
+    },
+    "rotation": -60.46121774044194
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "shoot-subwoofer"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
diff --git a/src/main/java/org/sciborgs1155/robot/Robot.java b/src/main/java/org/sciborgs1155/robot/Robot.java
@@ -221,7 +221,7 @@ private void configureBindings() {
     // intake (right trigger / top left bump)
     operator
         .leftBumper()
-        .whileTrue(intake.intake().deadlineWith(feeder.forward()))
+        .whileTrue(intake.intake().deadlineWith(feeder.slowForward()))
         .whileTrue(led.rainbow());
 
     // operator feed (left trigger)
@@ -290,6 +290,7 @@ public Command systemsCheck() {
             Test.fromCommand(
                 intake
                     .intake()
+                    .asProxy()
                     .deadlineWith(feeder.forward(), shooter.runShooter(100))
                     .withTimeout(1)),
             pivot.goToTest(Radians.of(0)),

diff --git a/src/main/java/org/sciborgs1155/robot/commands/Shooting.java b/src/main/java/org/sciborgs1155/robot/commands/Shooting.java
@@ -52,7 +52,7 @@ public class Shooting implements Logged {
    * The conversion between shooter tangential velocity and note launch velocity. Perhaps. This may
    * also account for other errors with our model.
    */
-  public static final DoubleEntry siggysConstant = Tuning.entry("/Robot/Siggy's Constant", 4.45);
+  public static final DoubleEntry siggysConstant = Tuning.entry("/Robot/Siggy's Constant", 4.42);
 
   public static final Measure<Distance> MAX_DISTANCE = Meters.of(5.0);
 

diff --git a/src/main/java/org/sciborgs1155/robot/feeder/Feeder.java b/src/main/java/org/sciborgs1155/robot/feeder/Feeder.java
@@ -45,6 +45,10 @@ public Command forward() {
     return runFeeder(POWER).withName("forward");
   }
 
+  public Command slowForward() {
+    return runFeeder(POWER / 2).withName("slow forward");
+  }
+
   public Command backward() {
     return runFeeder(-POWER).withName("backward");
   }

diff --git a/src/main/java/org/sciborgs1155/robot/pivot/PivotConstants.java b/src/main/java/org/sciborgs1155/robot/pivot/PivotConstants.java
@@ -47,7 +47,7 @@ public class PivotConstants {
   public static final Measure<Angle> MAX_ANGLE = STARTING_ANGLE.minus(Degrees.of(1.2));
 
   public static final Measure<Angle> PRESET_SUBWOOFER_ANGLE = STARTING_ANGLE;
-  public static final Measure<Angle> AMP_ANGLE = Radians.of(-0.579);
+  public static final Measure<Angle> AMP_ANGLE = Radians.of(-0.645);
   public static final Measure<Angle> PRESET_PODIUM_ANGLE = Radians.of(0.5);
 
   public static final Measure<Angle> PRESET_CLIMBING_ANGLE = Radians.of(-0.195);