Merge branch 'main' of github.com:LakotaRobotics1038/2024RobotProject

LakotaRobotics1038 · Apr 2, 2024 · f84baea · f84baea
2 parents c26eefb + b8a9b6a
commit f84baea
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Showing 6 changed files with 21 additions and 23 deletions.
diff --git a/src/main/deploy/pathplanner/paths/From amp to midline acquire.path b/src/main/deploy/pathplanner/paths/From amp to midline acquire.path
@@ -48,12 +48,12 @@
     },
     {
       "anchor": {
-        "x": 8.54,
-        "y": 7.34
+        "x": 8.515833783804318,
+        "y": 7.4608705342766815
       },
       "prevControl": {
-        "x": 7.904677120863775,
-        "y": 7.5503162432548745
+        "x": 7.825878671700363,
+        "y": 7.3556231442947215
       },
       "nextControl": null,
       "isLocked": false,
@@ -82,7 +82,7 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 0.0,
+    "rotation": 8.62,
     "rotateFast": false
   },
   "reversed": false,

diff --git a/src/main/deploy/pathplanner/paths/From midline note to amp.path b/src/main/deploy/pathplanner/paths/From midline note to amp.path
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 8.540000000000001,
-        "y": 7.343809471653955
+        "x": 8.515833783804318,
+        "y": 7.4608705342766815
       },
       "prevControl": null,
       "nextControl": {
-        "x": 8.683718987153075,
-        "y": 7.280092322567236
+        "x": 8.659552770957392,
+        "y": 7.397153385189962
       },
       "isLocked": false,
       "linkedName": "MidAcquireTopNote"
@@ -48,11 +48,11 @@
     },
     {
       "anchor": {
-        "x": 1.95,
+        "x": 2.0,
         "y": 8.1
       },
       "prevControl": {
-        "x": 2.514708547080911,
+        "x": 2.5647085470809112,
         "y": 8.05967115979816
       },
       "nextControl": null,
@@ -83,7 +83,7 @@
   "reversed": false,
   "folder": null,
   "previewStartingState": {
-    "rotation": 0.0,
+    "rotation": 8.62,
     "velocity": 0
   },
   "useDefaultConstraints": true

diff --git a/src/main/java/frc/robot/commands/ShootPasserCommand.java b/src/main/java/frc/robot/commands/ShootPasserCommand.java
@@ -25,15 +25,13 @@ public ShootPasserCommand() {
     @Override
     public void initialize() {
         timer.start();
+        passer.shoot();
     }
 
     @Override
     public void execute() {
-        scoring.feedForPasser();
-        passer.shoot();
-        if (!storage.noteExitingStorage()) {
-            storage.stopStorage();
-        } else {
+        if (timer.get() > 0.25) {
+            scoring.feedForPasser();
             storage.runStorage();
         }
     }

diff --git a/src/main/java/frc/robot/constants/DrawbridgeConstants.java b/src/main/java/frc/robot/constants/DrawbridgeConstants.java
@@ -6,7 +6,7 @@ public class DrawbridgeConstants {
     public static final int rightServoPort = 3;
 
     public static final double minLeftDrawbridgeExtension = 0.0;
-    public static final double maxLeftDrawbridgeExtension = 0.3;
-    public static final double minRightDrawbridgeExtension = 0.08;
-    public static final double maxRightDrawbridgeExtension = 0.45;
+    public static final double maxLeftDrawbridgeExtension = 0.65;
+    public static final double minRightDrawbridgeExtension = 0.0;
+    public static final double maxRightDrawbridgeExtension = 0.6;
 }
diff --git a/src/main/java/frc/robot/constants/NeoMotorConstants.java b/src/main/java/frc/robot/constants/NeoMotorConstants.java
@@ -5,7 +5,7 @@ public final class NeoMotorConstants {
     public static final double kVortexFreeSpeedRpm = 6784;
     public static final double kNeo550FreeSpeedRpm = 11000;
     public static final int kMaxNeoCurrent = 50; // amps
-    public static final int kMaxVortexCurrent = 50; // amps
+    public static final int kMaxVortexCurrent = 70; // amps
     public static final int kMaxNeo550Current = 20; // amps
     public static final double kMinPower = 0.05;
     public static final double kMaxPower = 1.0;

diff --git a/src/main/java/frc/robot/constants/ScoringElevatorConstants.java b/src/main/java/frc/robot/constants/ScoringElevatorConstants.java
@@ -9,8 +9,8 @@ public class ScoringElevatorConstants {
     public static final double elevatorEncoderConversionFactor = 1 / (maxElevatorEncoderCounts / maxElevatorInches);
 
     public static final double groundSetpoint = 0;
-    public static final double ampSetpoint = 4.0;
-    public static final double passerSetpoint = 6.0;
+    public static final double ampSetpoint = 4.5;
+    public static final double passerSetpoint = 6.75;
     public static final double trapSetpoint = 15.0;
 
     public static final double maxDistance = 0;