Merge branch 'vaash-control-prep' into auto-testing

FRC-Team-620 · Feb 29, 2024 · 526e244 · 526e244
2 parents d415c17 + f55306e
commit 526e244
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Showing 4 changed files with 8 additions and 5 deletions.
diff --git a/src/main/java/org/jmhsrobotics/frc2024/Constants.java b/src/main/java/org/jmhsrobotics/frc2024/Constants.java
@@ -84,7 +84,7 @@ public static class SwerveConstants {
 		public static final double kMaxSpeedFeetPerSecond = 14;
 
 		// configure to change drivetrain slow mode
-		public static final double slowSpeedFeetPerSecond = 8; // TODO: Remove used when not in turbo mode move to Comp
+		public static final double slowSpeedFeetPerSecond = 12; // TODO: Remove used when not in turbo mode move to Comp
 																// control later after refactor
 
 		// configure to change rotation speed

diff --git a/src/main/java/org/jmhsrobotics/frc2024/controlBoard/CompControl.java b/src/main/java/org/jmhsrobotics/frc2024/controlBoard/CompControl.java
@@ -14,9 +14,14 @@ public class CompControl implements ControlBoard {
 	// =============Driver Controls=============
 	private double slowSpeedFps = Constants.SwerveConstants.slowSpeedFeetPerSecond;
 	private double slowMode = slowSpeedFps / Constants.SwerveConstants.kMaxSpeedFeetPerSecond;
+
 	private boolean isTurbo() {
-		return this.driver.getAButton();
+		// return this.driver.getAButton();
+		// return new Trigger(() -> {
+		return driver.getRightTriggerAxis() > 0.5;
+		// }); //
 	}
+
 	@Override
 	public double xInput() {
 		return this.driver.getLeftX() * (isTurbo() ? 1.0 : slowMode);

diff --git a/src/main/java/org/jmhsrobotics/frc2024/subsystems/intake/commands/AmpShotCommand.java b/src/main/java/org/jmhsrobotics/frc2024/subsystems/intake/commands/AmpShotCommand.java
@@ -26,7 +26,7 @@ public void initialize() {
 	@Override
 	public void execute() {
 		this.intakeSubsystem.set(1);
-		this.shooterSubsystem.set(0.2, ControlType.VOLTAGE);
+		this.shooterSubsystem.set(0.2 * 12, ControlType.VOLTAGE);
 	}
 
 	@Override

diff --git a/src/main/java/org/jmhsrobotics/frc2024/subsystems/intake/commands/IntakeFireCommand.java b/src/main/java/org/jmhsrobotics/frc2024/subsystems/intake/commands/IntakeFireCommand.java
@@ -1,8 +1,6 @@
 package org.jmhsrobotics.frc2024.subsystems.intake.commands;
 
 import org.jmhsrobotics.frc2024.subsystems.intake.IntakeSubsystem;
-import org.jmhsrobotics.frc2024.subsystems.shooter.ShooterSubsystem;
-import org.jmhsrobotics.frc2024.subsystems.shooter.ShooterSubsystem.ControlType;
 
 import edu.wpi.first.wpilibj2.command.Command;