end of day one del rio

Valor6800 · Mar 24, 2019 · dddb0a9 · dddb0a9
1 parent 7f7bbd9
commit dddb0a9
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Showing 6 changed files with 22 additions and 18 deletions.
diff --git a/2019 Comp Season Code/src/main/cpp/Robot.cpp b/2019 Comp Season Code/src/main/cpp/Robot.cpp
@@ -147,10 +147,14 @@ void Robot::AutonomousPeriodic() {
   frc::Scheduler::GetInstance()->Run();
   Log();
 
+  m_carriage.SetHatchHolder(m_carriage.holderToGo);
+
   // Check if the encoder breaks
   if(m_elevator.EncoderBroken()) {
     m_elevator.encoderBroken = true;
   }
+
+  m_carriage.SetHatchScorer(m_carriage.scorerToGo);
 }
 
 void Robot::TeleopInit() {
@@ -179,11 +183,8 @@ void Robot::TeleopPeriodic() {
   frc::Scheduler::GetInstance()->Run();
   Log();
 
-  if(m_elevator.GetHeight() < 80 && m_elevator.hasZeroed) {
-    m_carriage.SetHatchHolder(false);
-  } else {
-    m_carriage.SetHatchHolder(m_carriage.holderToGo);
-  }
+  m_carriage.SetHatchHolder(m_carriage.holderToGo);
+
 
   // Check if the encoder breaks
   if(m_elevator.EncoderBroken()) {

diff --git a/2019 Comp Season Code/src/main/cpp/commands/AutoAlign.cpp b/2019 Comp Season Code/src/main/cpp/commands/AutoAlign.cpp
@@ -37,9 +37,9 @@ void AutoAlign::Execute() {
             Robot::m_drivetrain.m_robotDrive.ArcadeDrive(0.0,0.0);
           }
 
-          if(table->GetNumber("ta",0.0) >= 1.7) {
-            // done = true;
-          }
+          // if(table->GetNumber("ta",0.0) >= 1.7) {
+          //   // done = true;
+          // }
         // } else {
           // table->PutNumber("ledMode",1);
           // table->PutNumber("camMode",1);

diff --git a/2019 Comp Season Code/src/main/cpp/commands/ElevatorManual.cpp b/2019 Comp Season Code/src/main/cpp/commands/ElevatorManual.cpp
@@ -32,7 +32,7 @@ void ElevatorManual::Execute() {
   // If we are going down, DO half-speed mode, ELSE full speed mode
   // NOTE: Negative yVal runs the lift up and vice versa
   if(yVal > 0) {
-    yVal = yVal / 2.0;
+    yVal = yVal / 1.5;
   }
 
   // If we are out of deadband
@@ -53,15 +53,15 @@ void ElevatorManual::Execute() {
 
         // TODO: Make this .25 with comp code
         // If we are already towards the bottom and still trying to run the lift down
-        if(Robot::m_elevator.GetHeight() < 80 && yVal > .15) {
+        if(Robot::m_elevator.GetHeight() < 80 && yVal > .25) {
             // Set the elevator to go quite slow
-            Robot::m_elevator.SetLiftSpeed(.15);
+            Robot::m_elevator.SetLiftSpeed(.25);
 
         // As long as we are not at the very bottom and trying to go down
         } else if(!(Robot::m_elevator.IsAtLowerLimit() && yVal > 0)) {
             // Set the elevator to the y Value of the joystick
             Robot::m_elevator.SetLiftSpeed(yVal);
-        
+
         // This means we are 0'd on the encoder
         } else {
             // Set it to 0 completely

diff --git a/2019 Comp Season Code/src/main/cpp/commands/SetHatch.cpp b/2019 Comp Season Code/src/main/cpp/commands/SetHatch.cpp
@@ -23,9 +23,11 @@ SetHatch::SetHatch(bool scorerToGo) {
 void SetHatch::Initialize() {
     // Set the carriage to go to the new (or old) location
     // toGo = (Robot::m_oi.g_shift || (Robot::m_elevator.GetHeight() < 80 && Robot::m_elevator.hasZeroed)) ? Robot::m_carriage.GetHatchScorer() : !Robot::m_carriage.GetHatchScorer();
-    if(!(Robot::m_elevator.GetHeight() < 80 && Robot::m_elevator.hasZeroed)) {
-        Robot::m_carriage.scorerToGo = toGo;
-    }
+    // if(!(Robot::m_elevator.GetHeight() < 80 && Robot::m_elevator.hasZeroed)) {
+    //     Robot::m_carriage.scorerToGo = toGo;
+    // }
+
+    Robot::m_carriage.scorerToGo = toGo;
 }
 
 // Make this return true when this Command no longer needs to run execute()

diff --git a/2019 Comp Season Code/src/main/cpp/subsystems/Carriage.cpp b/2019 Comp Season Code/src/main/cpp/subsystems/Carriage.cpp
@@ -8,7 +8,7 @@
 #include <subsystems/Carriage.h>
 
 Carriage::Carriage() : frc::Subsystem("Carriage") {
-    holderToGo = false;
+    holderToGo = true;
 }
 
 void Carriage::InitDefaultCommand() {

diff --git a/2019 Comp Season Code/src/main/cpp/subsystems/Drivetrain.cpp b/2019 Comp Season Code/src/main/cpp/subsystems/Drivetrain.cpp
@@ -159,8 +159,9 @@ void Drivetrain::UpdateLimelightTracking() {
         m_LimelightTurnCmd = clamp(m_LimelightTurnCmd,-MAX_STEER,MAX_STEER);
 
         // drive forward until the target area reaches our desired area
-        m_LimelightDriveCmd = (DESIRED_TARGET_AREA - ta) * DRIVE_K;
-        m_LimelightDriveCmd = clamp(m_LimelightDriveCmd,-MAX_DRIVE,MAX_DRIVE);
+        // m_LimelightDriveCmd = (DESIRED_TARGET_AREA - ta) * DRIVE_K;
+        // m_LimelightDriveCmd = clamp(m_LimelightDriveCmd,-MAX_DRIVE,MAX_DRIVE);
+        m_LimelightDriveCmd = .5;
   }
 }