Merge branch 'refs/heads/main' into multi-step-autoaim

DurhamAcademy · Apr 4, 2024 · b496c63 · b496c63
2 parents 317f808 + 7653f35
commit b496c63
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Showing 6 changed files with 30 additions and 33 deletions.
diff --git a/src/main/deploy/pathplanner/autos/Greedy.auto b/src/main/deploy/pathplanner/autos/Greedy.auto
@@ -41,22 +41,9 @@
                 }
               },
               {
-                "type": "sequential",
-                "data": {
-                  "commands": [
-                    {
-                      "type": "wait",
-                      "data": {
-                        "waitTime": 0.08
-                      }
-                    },
-                    {
-                      "type": "named",
-                      "data": {
-                        "name": "Shoot When Ready"
-                      }
-                    }
-                  ]
+                "type": "named",
+                "data": {
+                  "name": "Shoot When Ready"
                 }
               }
             ]

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -225,7 +225,7 @@ public String getCameraName() {
                         )
                                 .onlyWhile(() -> !feeder.getBeamBroken())
                                 .withTimeout(3.0)
-                )
+                ).raceWith(SpecializedCommands.timeoutDuringAutoSim(3.0))
         );
         NamedCommands.registerCommand(
                 "Shoot",
@@ -345,7 +345,6 @@ private void configureButtonBindings() {
                                         feeder::getBeamBroken
                                 )
                         );
-                driverController.rightBumper().whileTrue(IntakeCommands.idleCommand(intake));
 
                 operatorController
                         .povLeft()
@@ -432,13 +431,15 @@ private void configureButtonBindings() {
 //                                .onlyWhile(feeder::getBeamBroken)
 //                                .andThen(ShooterCommands.ampAngle(shooter)));
                 driverController
-                        .povUp()
+                        .rightBumper()
                         .whileTrue(
                                 sequence(
                                     FeederCommands.feedToShooter(feeder)
-                                            .alongWith(ShooterCommands.ampSpin(shooter)).until(() -> !feeder.getBeamBroken()),
+                                            .alongWith(ShooterCommands.ampSpin(shooter)).withTimeout(0.2),
                                         ShooterCommands.ampAng(shooter)
-                                                .alongWith(ShooterCommands.ampGo(shooter, 400))
+                                                .alongWith(ShooterCommands.ampGo(shooter, 600))
+                                                .withTimeout(0.25)
+                                                .andThen(ShooterCommands.setAmpAngle(shooter, -0.4))
                                 )
 
 

diff --git a/src/main/java/frc/robot/commands/ShooterCommands.java b/src/main/java/frc/robot/commands/ShooterCommands.java
@@ -250,8 +250,14 @@ public static Command newAmpShoot(Shooter shooter){
 
     public static Command ampSpin(Shooter shooter){
         return run(() -> {
-            shooter.setTargetShooterAngle(Rotation2d.fromRadians(1.114));
-            shooter.shooterRunVelocity(300);
+            shooter.setTargetShooterAngle(Rotation2d.fromRadians(0.925));
+            shooter.shooterRunVelocity(600);
+        });
+    }
+
+    public static Command setAmpAngle(Shooter shooter, double angle){
+        return run(() -> {
+            shooter.setTargetShooterAngle(Rotation2d.fromRadians(angle));
         });
     }
 

diff --git a/src/main/java/frc/robot/subsystems/intake/Intake.java b/src/main/java/frc/robot/subsystems/intake/Intake.java
@@ -98,6 +98,9 @@ public void setFeedControl(boolean disabled) {
     boolean disableFeedControl = false;
     @Override
     public void periodic() {
+        if(inputs.armPositionRad < 1.715 && inputs.armPositionRad > -0.97){
+            io.setRollerPercent(0.0);
+        }
         if (mustReset) {
             resetArmFB();
             mustReset = false;

diff --git a/vendordeps/REVLib.json b/vendordeps/REVLib.json
@@ -1,7 +1,7 @@
 {
   "fileName": "REVLib.json",
   "name": "REVLib",
-  "version": "2024.2.2",
+  "version": "2024.2.4",
   "frcYear": "2024",
   "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
   "mavenUrls": [
@@ -12,14 +12,14 @@
     {
       "groupId": "com.revrobotics.frc",
       "artifactId": "REVLib-java",
-      "version": "2024.2.2"
+      "version": "2024.2.4"
     }
   ],
   "jniDependencies": [
     {
       "groupId": "com.revrobotics.frc",
       "artifactId": "REVLib-driver",
-      "version": "2024.2.2",
+      "version": "2024.2.4",
       "skipInvalidPlatforms": true,
       "isJar": false,
       "validPlatforms": [
@@ -37,7 +37,7 @@
     {
       "groupId": "com.revrobotics.frc",
       "artifactId": "REVLib-cpp",
-      "version": "2024.2.2",
+      "version": "2024.2.4",
       "libName": "REVLib",
       "headerClassifier": "headers",
       "sharedLibrary": false,
@@ -55,7 +55,7 @@
     {
       "groupId": "com.revrobotics.frc",
       "artifactId": "REVLib-driver",
-      "version": "2024.2.2",
+      "version": "2024.2.4",
       "libName": "REVLibDriver",
       "headerClassifier": "headers",
       "sharedLibrary": false,

diff --git a/vendordeps/photonlib.json b/vendordeps/photonlib.json
@@ -1,7 +1,7 @@
 {
   "fileName": "photonlib.json",
   "name": "photonlib",
-  "version": "v2024.2.8",
+  "version": "v2024.3.1",
   "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004",
   "frcYear": "2024",
   "mavenUrls": [
@@ -14,7 +14,7 @@
     {
       "groupId": "org.photonvision",
       "artifactId": "photonlib-cpp",
-      "version": "v2024.2.8",
+      "version": "v2024.3.1",
       "libName": "photonlib",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -29,7 +29,7 @@
     {
       "groupId": "org.photonvision",
       "artifactId": "photontargeting-cpp",
-      "version": "v2024.2.8",
+      "version": "v2024.3.1",
       "libName": "photontargeting",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -46,12 +46,12 @@
     {
       "groupId": "org.photonvision",
       "artifactId": "photonlib-java",
-      "version": "v2024.2.8"
+      "version": "v2024.3.1"
     },
     {
       "groupId": "org.photonvision",
       "artifactId": "photontargeting-java",
-      "version": "v2024.2.8"
+      "version": "v2024.3.1"
     }
   ]
 }