testing on robot (#26)

Harsh & Lucas configured and tuned launcher for L2 and some base testing on L1
FRC830 · Mar 8, 2025 · 1ca0a94 · 1ca0a94
1 parent 86c21dc
commit 1ca0a94
Show file tree

Hide file tree

Showing 5 changed files with 23 additions and 14 deletions.
diff --git a/src/main/cpp/ControllerInterface.cpp b/src/main/cpp/ControllerInterface.cpp
@@ -43,6 +43,15 @@ void ControllerInterface::UpdateLauncherInput(RobotControlData &controlData){
     controlData.coralInput.setFlywheelToL1Speed = m_pilot.GetAButton();
     controlData.coralInput.setFlywheelToL2Speed = m_pilot.GetBButton();
     controlData.coralInput.disableFlywheels = m_pilot.GetYButton();
+
+    if (m_pilot.GetXButton())
+    {
+        controlData.coralInput.indexerSpeeds = 0.7f;
+    }
+    else
+    {
+        controlData.coralInput.indexerSpeeds = 0.0f;
+    }
 }
 
 void ControllerInterface::UpdateSmartplannerInput(RobotControlData &controlData)

diff --git a/src/main/cpp/InputManager/CoralLauncherManager.cpp b/src/main/cpp/InputManager/CoralLauncherManager.cpp
@@ -17,18 +17,18 @@ void CoralLauncherManager::HandleInput(RobotControlData &robotControlData){
     }
 
     if(m_setFlywheelToL1Speed){
-        m_CoralLauncher.SetWheelSpeeds(1.0,1.0); //configure speeds
+        m_CoralLauncher.SetWheelSpeeds(300.0, 500.0); //configure speeds
     }
     if(m_setFlywheelToL2Speed){
-        m_CoralLauncher.SetWheelSpeeds(1.0,1.0); //config speeds
+        m_CoralLauncher.SetWheelSpeeds(1050.0, 1050.0); //config speeds
     }
     if(m_setFlywheelToZeroSpeed){
         m_CoralLauncher.SetWheelSpeeds(0.0,0.0);
     }
     m_CoralLauncher.SetIndexerSpeeds(robotControlData.coralInput.indexerSpeeds);
-    if(m_CoralLauncher.BeamBreakStatus()){
-        m_CoralLauncher.SetWheelSpeeds(0,0);
-    }
+    // if(m_CoralLauncher.BeamBreakStatus()){
+    //     m_CoralLauncher.SetWheelSpeeds(0,0);
+    // }
     robotControlData.coralOutput.isBeamBroken = m_CoralLauncher.BeamBreakStatus();
     robotControlData.coralOutput.leftSpeed = m_CoralLauncher.GetLeftWheelSpeed();
     robotControlData.coralOutput.rightSpeed = m_CoralLauncher.GetRightWheelSpeed();

diff --git a/src/main/include/HAL/AlgaeRemoverHAL.h b/src/main/include/HAL/AlgaeRemoverHAL.h
@@ -29,8 +29,8 @@ class AlgaeRemover
     private:
         void SetAngle(double angle);
 
-        rev::spark::SparkMax m_armMotor{40, rev::spark::SparkMax::MotorType::kBrushless};
-        rev::spark::SparkMax m_removerMotor{41, rev::spark::SparkMax::MotorType::kBrushless};
+        rev::spark::SparkMax m_armMotor{100, rev::spark::SparkMax::MotorType::kBrushless};
+        rev::spark::SparkMax m_removerMotor{101, rev::spark::SparkMax::MotorType::kBrushless};
         double m_removerSpeed;
         frc::Timer m_Timer = frc::Timer(); 
         int m_algaeRemoverState = 0;

diff --git a/src/main/include/HAL/CoralLauncherHAL.h b/src/main/include/HAL/CoralLauncherHAL.h
@@ -17,11 +17,11 @@ class CoralLauncher
         bool AreFlywheelsAtDesiredSpeed();
         bool BeamBreakStatus();
     private:
-        rev::spark::SparkMax m_rightMotor{30, rev::spark::SparkMax::MotorType::kBrushless};
-        rev::spark::SparkMax m_leftMotor{31, rev::spark::SparkMax::MotorType::kBrushless};
-        rev::spark::SparkMax m_indexer1{32, rev::spark::SparkMax::MotorType::kBrushless};
-        rev::spark::SparkMax m_indexer2{33, rev::spark::SparkMax::MotorType::kBrushless};
-        frc::DigitalInput m_beam_break{34}; //moved from CoralLauncherManager; move back if needed
+        rev::spark::SparkMax m_rightMotor{43, rev::spark::SparkMax::MotorType::kBrushless};
+        rev::spark::SparkMax m_leftMotor{42, rev::spark::SparkMax::MotorType::kBrushless};
+        rev::spark::SparkMax m_indexer1{40, rev::spark::SparkMax::MotorType::kBrushless};
+        rev::spark::SparkMax m_indexer2{41, rev::spark::SparkMax::MotorType::kBrushless};
+        frc::DigitalInput m_beam_break{0}; //moved from CoralLauncherManager; move back if needed
         double m_desiredRightSpeed;
         double m_desiredLeftSpeed; 
         const double SMALL_NUM = 0.001; //change variable name accordingly; make a more suitable name                            

diff --git a/src/main/include/MechanismConfig.h b/src/main/include/MechanismConfig.h
@@ -19,14 +19,14 @@ namespace ratbot
             const double F = 0.0;
             const double VEL_CONV_FACTOR = 1.0;
             const double CURRENT_LIM = 30.0;
-            const bool INVERTED = false;
+            const bool INVERTED = true;
             rev::spark::SparkBaseConfig::IdleMode IDLE_MODE = rev::spark::SparkBaseConfig::IdleMode::kCoast;
         }
 
         namespace Indexer
         {
             const double CURRENT_LIM = 20.0;
-            const bool INVERTED = false;
+            const bool INVERTED = true;
             rev::spark::SparkBaseConfig::IdleMode IDLE_MODE = rev::spark::SparkBaseConfig::IdleMode::kCoast;
         } 
     }