productivity

SciBorgs · Jun 18, 2024 · 2878852 · 2878852
1 parent 568d3b6
commit 2878852
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Showing 2 changed files with 12 additions and 3 deletions.
diff --git a/src/main/java/org/sciborgs1155/robot/Ports.java b/src/main/java/org/sciborgs1155/robot/Ports.java
@@ -15,7 +15,7 @@ public static final class Pivot {
     public static final int SPARK_LEFT_TOP = 7;
     public static final int SPARK_RIGHT_TOP = 39;
     public static final int SPARK_LEFT_BOTTOM = 51;
-    public static final int SPARK_RIGHT_BOTTOM = 55;
+    public static final int SPARK_RIGHT_BOTTOM = 35;
   }
 
   public static final class Feeder {
@@ -41,6 +41,6 @@ public static final class Intake {
   }
 
   public static final class Led {
-    public static final int LED_PORT = 2; // led port
+    public static final int LED_PORT = 1; // led port
   }
 }
diff --git a/src/main/java/org/sciborgs1155/robot/Robot.java b/src/main/java/org/sciborgs1155/robot/Robot.java
@@ -84,6 +84,7 @@ public class Robot extends CommandRobot implements Logged {
         default -> Pivot.none();
       };
 
+  private final PowerDistribution pdh = new PowerDistribution();
   private final LedStrip led = new LedStrip();
 
   private final Vision vision = Vision.create();
@@ -118,7 +119,7 @@ private void configureGameBehavior() {
 
     SmartDashboard.putData(CommandScheduler.getInstance());
     // Log PDH
-    SmartDashboard.putData("PDH", new PowerDistribution());
+    SmartDashboard.putData("PDH", pdh);
     // addPeriodic(() -> log("current", FakePDH.update()), PERIOD.in(Seconds));
 
     // Configure pose estimation updates every tick
@@ -137,6 +138,8 @@ private void configureGameBehavior() {
 
     if (isReal()) {
       URCL.start();
+      pdh.clearStickyFaults();
+      pdh.setSwitchableChannel(true);
     } else {
       DriverStation.silenceJoystickConnectionWarning(true);
       addPeriodic(() -> vision.simulationPeriodic(drive.pose()), PERIOD.in(Seconds));
@@ -232,6 +235,12 @@ private void configureBindings() {
         .whileTrue(
             shooting.shootWithPivot(PivotConstants.FEED_ANGLE, ShooterConstants.DEFAULT_VELOCITY));
 
+    // shoot 45 deg FAST (far as possible)
+    // operator
+    //     .povLeft()
+    //     .whileTrue(
+    //         shooting.shootWithPivot(Radians.of(0.619), ShooterConstants.MAX_VELOCITY));
+
     // operator climb (b)
     operator
         .b()