feat: Working shooting.

Gongoliers · Mar 15, 2024 · 5cdee84 · 5cdee84
1 parent d04ec44
commit 5cdee84
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Showing 6 changed files with 7 additions and 8 deletions.
diff --git a/src/main/java/frc/robot/RobotConstants.java b/src/main/java/frc/robot/RobotConstants.java
@@ -53,5 +53,5 @@ public enum Subsystem {
           Subsystem.SHOOTER,
           Subsystem.SWERVE);
 
-  public static final Set<Subsystem> REAL_SUBSYSTEMS = EnumSet.of(Subsystem.ODOMETRY, Subsystem.SWERVE);
+  public static final Set<Subsystem> REAL_SUBSYSTEMS = ALL_SUBSYSTEMS;
 }
diff --git a/src/main/java/frc/robot/arm/ArmState.java b/src/main/java/frc/robot/arm/ArmState.java
@@ -17,9 +17,9 @@ public record ArmState(State shoulder, State wrist) {
   public static final ArmState STOW =
       new ArmState(ShoulderMotorConstants.MINIMUM_ANGLE, WristMotorConstants.MAXIMUM_ANGLE);
 
-  public static final ArmState SHOOT = STOW.withWrist(Rotation2d.fromDegrees(18));
+  public static final ArmState SHOOT = STOW.withWrist(WristMotorConstants.MAXIMUM_ANGLE.plus(Rotation2d.fromDegrees(-65)));
 
-  public static final ArmState INTAKE = STOW.withWrist(Rotation2d.fromDegrees(4));
+  public static final ArmState INTAKE = STOW.withWrist(WristMotorConstants.MAXIMUM_ANGLE.plus(Rotation2d.fromDegrees(-79)));
 
   public static final ArmState AMP =
       new ArmState(ShoulderMotorConstants.MAXIMUM_ANGLE, Rotation2d.fromDegrees(0));

diff --git a/src/main/java/frc/robot/arm/ShoulderMotorIOSparkMax.java b/src/main/java/frc/robot/arm/ShoulderMotorIOSparkMax.java
@@ -26,7 +26,7 @@ public class ShoulderMotorIOSparkMax implements ShoulderMotorIO {
 
   /** Creates a new shoulder motor using a Spark Max. */
   public ShoulderMotorIOSparkMax() {
-    sparkMax = new CANSparkMax(ShoulderMotorConstants.CAN.id(), MotorType.kBrushless);
+    sparkMax = new CANSparkMax(1, MotorType.kBrushless);
 
     feedback = new PIDController(ShoulderMotorConstants.KP, 0, 0);
 

diff --git a/src/main/java/frc/robot/arm/WristMotorIOSparkMax.java b/src/main/java/frc/robot/arm/WristMotorIOSparkMax.java
@@ -23,8 +23,7 @@ public class WristMotorIOSparkMax implements WristMotorIO {
   private final AccelerationCalculator accelerationCalculator;
 
   public WristMotorIOSparkMax() {
-    // TODO test, use dedicated wrist SparkMAX
-    sparkMax = new CANSparkMax(1, MotorType.kBrushless);
+    sparkMax = new CANSparkMax(2, MotorType.kBrushless);
 
     feedback = new PIDController(WristMotorConstants.KP, 0, 0);
 

diff --git a/src/main/java/frc/robot/auto/Auto.java b/src/main/java/frc/robot/auto/Auto.java
@@ -140,7 +140,7 @@ public Command readyIntake() {
   }
 
   public Command intakeNote() {
-    return readyIntake().andThen(Commands.parallel(intake.intake(), shooter.intake()));
+    return readyIntake().andThen(intake.intake());
   }
 
   public Command stow() {

diff --git a/src/main/java/frc/robot/intake/IntakeConstants.java b/src/main/java/frc/robot/intake/IntakeConstants.java
@@ -34,7 +34,7 @@ public static class PivotMotorConstants {
     public static final double DISTANCE = Units.inchesToMeters(10.275);
 
     /** Pivot motor's minimum angle. */
-    public static final Rotation2d MINIMUM_ANGLE = Rotation2d.fromDegrees(-48);
+    public static final Rotation2d MINIMUM_ANGLE = Rotation2d.fromDegrees(-40);
 
     /** Pivot motor's maximum angle. */
     public static final Rotation2d MAXIMUM_ANGLE = Rotation2d.fromDegrees(86);