From e1f8175c37cf24c05c06504ace5cd689f091d90f Mon Sep 17 00:00:00 2001 From: DriverStation1 Date: Wed, 21 Sep 2022 14:20:05 -0700 Subject: [PATCH 1/3] change configs for new back right modukle --- src/main/java/frc/team2412/robot/Hardware.java | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc/team2412/robot/Hardware.java b/src/main/java/frc/team2412/robot/Hardware.java index 6407f5cf..8bb19d82 100644 --- a/src/main/java/frc/team2412/robot/Hardware.java +++ b/src/main/java/frc/team2412/robot/Hardware.java @@ -13,10 +13,10 @@ public class Hardware { DRIVETRAIN_BACK_LEFT_ANGLE_MOTOR = 8, DRIVETRAIN_BACK_RIGHT_ANGLE_MOTOR = 11; public static final int DRIVETRAIN_FRONT_LEFT_ENCODER_PORT = 3, DRIVETRAIN_FRONT_RIGHT_ENCODER_PORT = 6, DRIVETRAIN_BACK_LEFT_ENCODER_PORT = 9, DRIVETRAIN_BACK_RIGHT_ENCODER_PORT = 12; - public static final double DRIVETRAIN_FRONT_LEFT_ENCODER_OFFSET = -Math.toRadians(67.852); + public static final double DRIVETRAIN_FRONT_LEFT_ENCODER_OFFSET = -Math.toRadians(67.85156); public static final double DRIVETRAIN_FRONT_RIGHT_ENCODER_OFFSET = -Math.toRadians(221.924); - public static final double DRIVETRAIN_BACK_LEFT_ENCODER_OFFSET = -Math.toRadians(214.980); - public static final double DRIVETRAIN_BACK_RIGHT_ENCODER_OFFSET = -Math.toRadians(168.398); + public static final double DRIVETRAIN_BACK_LEFT_ENCODER_OFFSET = -Math.toRadians(214.892578); + public static final double DRIVETRAIN_BACK_RIGHT_ENCODER_OFFSET = -Math.toRadians(168.310547+90); public static final String DRIVETRAIN_INTAKE_CAN_BUS_NAME = "DrivebaseIntake"; // Changes swerve modules & disables subsystems missing from the swerve test bot @@ -24,6 +24,7 @@ public class Hardware { static { GEAR_RATIO = Robot.getInstance().isCompetition() + ? Mk4SwerveModuleHelper.GearRatio.L2 : Mk4SwerveModuleHelper.GearRatio.L1; } From 72ae78f4a3896848baecebb6a6803e8a8f679622 Mon Sep 17 00:00:00 2001 From: jbko6 <58869582+jbko6@users.noreply.github.com> Date: Fri, 7 Oct 2022 11:21:38 -0700 Subject: [PATCH 2/3] spotless --- src/main/java/frc/team2412/robot/Hardware.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/team2412/robot/Hardware.java b/src/main/java/frc/team2412/robot/Hardware.java index 8bb19d82..0c03b745 100644 --- a/src/main/java/frc/team2412/robot/Hardware.java +++ b/src/main/java/frc/team2412/robot/Hardware.java @@ -16,7 +16,7 @@ public class Hardware { public static final double DRIVETRAIN_FRONT_LEFT_ENCODER_OFFSET = -Math.toRadians(67.85156); public static final double DRIVETRAIN_FRONT_RIGHT_ENCODER_OFFSET = -Math.toRadians(221.924); public static final double DRIVETRAIN_BACK_LEFT_ENCODER_OFFSET = -Math.toRadians(214.892578); - public static final double DRIVETRAIN_BACK_RIGHT_ENCODER_OFFSET = -Math.toRadians(168.310547+90); + public static final double DRIVETRAIN_BACK_RIGHT_ENCODER_OFFSET = -Math.toRadians(168.310547 + 90); public static final String DRIVETRAIN_INTAKE_CAN_BUS_NAME = "DrivebaseIntake"; // Changes swerve modules & disables subsystems missing from the swerve test bot From ac004aba8b05d7137abc7048e93286c309218a36 Mon Sep 17 00:00:00 2001 From: DriverStation1 Date: Sat, 15 Oct 2022 11:57:35 -0700 Subject: [PATCH 3/3] presets --- src/main/java/frc/team2412/robot/Controls.java | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc/team2412/robot/Controls.java b/src/main/java/frc/team2412/robot/Controls.java index 35517330..c059ab74 100644 --- a/src/main/java/frc/team2412/robot/Controls.java +++ b/src/main/java/frc/team2412/robot/Controls.java @@ -145,12 +145,12 @@ public void bindShooterControls() { BooleanSupplier b = driveController.getDPadButton(Direction.UP)::get; driveController.getDPadButton(Direction.DOWN).whenPressed( - new ShooterHoodRPMCommand(subsystems.shooterSubsystem, 1400, 35).withInterrupt(b) - .alongWith(new InstantCommand(() -> subsystems.shooterSubsystem.setTurretAngle(-90)))); + new ShooterHoodRPMCommand(subsystems.shooterSubsystem, 2030, 6.3).withInterrupt(b) + .alongWith(new InstantCommand(() -> subsystems.shooterSubsystem.setTurretAngle(90)))); driveController.getDPadButton(Direction.LEFT).whenPressed( - new ShooterHoodRPMCommand(subsystems.shooterSubsystem, 2400, 9.3).withInterrupt(b) - .alongWith(new InstantCommand(() -> subsystems.shooterSubsystem.setTurretAngle(-90)))); + new ShooterHoodRPMCommand(subsystems.shooterSubsystem, 2075, 18.7).withInterrupt(b) + .alongWith(new InstantCommand(() -> subsystems.shooterSubsystem.setTurretAngle(90)))); driveController.getDPadButton(Direction.RIGHT).whenPressed( new ShooterHoodRPMCommand(subsystems.shooterSubsystem, 0, 0).withInterrupt(b)