From 241f1636e2b4863c6cb3350cc1c560934cb62a59 Mon Sep 17 00:00:00 2001 From: FRCTeam3255-Shared <170778697+FRCTeam3255-Shared@users.noreply.github.com> Date: Sat, 30 May 2026 14:35:20 -0700 Subject: [PATCH 1/7] added reverse on transfer roller, serializer roller, and shooter roller Co-Authored-By: lameesnotlame <258483139+lameesnotlame@users.noreply.github.com> --- robot.tldr | 38 +++++++++++-------- .../robot/commands/states/EjectingHopper.java | 24 ++++++++++-- .../java/frc/robot/constants/ConstRotors.java | 4 ++ 3 files changed, 46 insertions(+), 20 deletions(-) diff --git a/robot.tldr b/robot.tldr index f756549..4dc1617 100644 --- a/robot.tldr +++ b/robot.tldr @@ -1527,9 +1527,9 @@ "typeName": "shape" }, { - "x": 2622.341679669581, - "y": 552.5721428142112, - "z": 0.1697572539181728, + "x": 1643.8525015234095, + "y": 271.02608216176725, + "z": 0.47404401471199936, "meta": {}, "id": "camera:page:page", "typeName": "camera" @@ -2479,9 +2479,9 @@ "typeName": "shape" }, { - "x": 206.3569147328484, - "y": 1852.994123336534, - "z": 0.12395093385564669, + "x": 0, + "y": 0, + "z": 1, "meta": {}, "id": "camera:page:grvVnvcP2QYOnDHPI3N7D", "typeName": "camera" @@ -6007,6 +6007,14 @@ "index": "a2Un8z4d", "typeName": "shape" }, + { + "name": "", + "color": "#BD54C6", + "imageUrl": "", + "meta": {}, + "id": "user:KY6b4fIpRbclXVZZj2JXG", + "typeName": "user" + }, { "x": 740.0541678007419, "y": 1761.5721268674733, @@ -6551,11 +6559,9 @@ "typeName": "binding" }, { - "editingShapeId": "shape:iv5HxmgE8cO6VlR2ztcz_", + "editingShapeId": null, "croppingShapeId": null, - "selectedShapeIds": [ - "shape:iv5HxmgE8cO6VlR2ztcz_" - ], + "selectedShapeIds": [], "hoveredShapeId": "shape:VVsLcsMmoUoFc0sDMQsVV", "erasingShapeIds": [], "hintingShapeIds": [], @@ -6733,8 +6739,8 @@ "screenBounds": { "x": 0, "y": 0, - "w": 660, - "h": 614 + "w": 1454, + "h": 918 }, "insets": [ false, @@ -6751,7 +6757,7 @@ "isFocused": true, "devicePixelRatio": 1, "isCoarsePointer": false, - "isHoveringCanvas": false, + "isHoveringCanvas": true, "openMenus": [], "isChangingStyle": false, "isReadonly": false, @@ -7571,9 +7577,9 @@ "typeName": "binding" }, { - "x": -2733.4690724786497, - "y": -205.34068450972168, - "z": 0.6471544470914002, + "x": 539.9439909812469, + "y": 334.686492004461, + "z": 0.28565081673697756, "meta": {}, "id": "camera:page:Wfhj8q2d0tvavwNlrwo_4", "typeName": "camera" diff --git a/src/main/java/frc/robot/commands/states/EjectingHopper.java b/src/main/java/frc/robot/commands/states/EjectingHopper.java index 7090431..90c1f59 100644 --- a/src/main/java/frc/robot/commands/states/EjectingHopper.java +++ b/src/main/java/frc/robot/commands/states/EjectingHopper.java @@ -5,25 +5,41 @@ package frc.robot.commands.states; import edu.wpi.first.wpilibj2.command.Command; +import frc.robot.RobotContainer; +import frc.robot.constants.ConstMotion; +import frc.robot.constants.ConstRotors; /* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */ -public class EjectingHopper extends Command { +public class EjectingHopper extends Command + +{ /** Creates a new EjectingHopper. */ public EjectingHopper() { + // Use addRequirements() here to declare subsystem dependencies. } // Called when the command is initially scheduled. @Override - public void initialize() {} + public void initialize() { + RobotContainer.motionInstance.setIntakePivotAngle(ConstMotion.INTAKE_PIVOT_DEPLOY); + } // Called every time the scheduler runs while the command is scheduled. @Override - public void execute() {} + public void execute() { + RobotContainer.rotorsInstance.setIntakeRollersPercentOutput(ConstRotors.REVERSE_INTAKE_ROLLER_SPEED); + RobotContainer.rotorsInstance.setSerializerRollersPercentOutput(ConstRotors.REVERSE_SERIALIZER_SPEED); + RobotContainer.rotorsInstance.setTransferRollersPercentOutput(ConstRotors.REVERSE_TRANSFER_ROLLERS_SPEED); + } // Called once the command ends or is interrupted. @Override - public void end(boolean interrupted) {} + public void end(boolean interrupted) { + RobotContainer.rotorsInstance.setIntakeRollersPercentOutput(ConstRotors.STOP); + RobotContainer.rotorsInstance.setSerializerRollersPercentOutput(ConstRotors.STOP); + RobotContainer.rotorsInstance.setTransferRollersPercentOutput(ConstRotors.STOP); + } // Returns true when the command should end. @Override diff --git a/src/main/java/frc/robot/constants/ConstRotors.java b/src/main/java/frc/robot/constants/ConstRotors.java index 2c5238f..fd78663 100644 --- a/src/main/java/frc/robot/constants/ConstRotors.java +++ b/src/main/java/frc/robot/constants/ConstRotors.java @@ -28,6 +28,10 @@ public class ConstRotors { public static final AngularVelocity INTAKE_TRANSFER_SPEED = Units.RPM.of(3000); public static final double SERIALIZER_SHOOTING_SPEED = 0.5; public static final double STOP = 0; + public static final double REVERSE_SERIALIZER_SPEED = -0.5; + public static final double REVERSE_INTAKE_ROLLER_SPEED = -0.5; + public static final double REVERSE_TRANSFER_ROLLERS_SPEED = -0.5; + static { // SHOOTER_TRANSFER_EAST_CONFIGURATION.MotorOutput.NeutralMode = From 1d0b8b04fc9bb1b0371f490dfb04de06a7e9b069 Mon Sep 17 00:00:00 2001 From: FRCTeam3255-Shared <170778697+FRCTeam3255-Shared@users.noreply.github.com> Date: Sat, 30 May 2026 14:51:39 -0700 Subject: [PATCH 2/7] updated ejecting hopper added state machine instance Co-Authored-By: lameesnotlame <258483139+lameesnotlame@users.noreply.github.com> --- src/main/java/frc/robot/commands/states/EjectingHopper.java | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/src/main/java/frc/robot/commands/states/EjectingHopper.java b/src/main/java/frc/robot/commands/states/EjectingHopper.java index 90c1f59..7011cbd 100644 --- a/src/main/java/frc/robot/commands/states/EjectingHopper.java +++ b/src/main/java/frc/robot/commands/states/EjectingHopper.java @@ -8,6 +8,8 @@ import frc.robot.RobotContainer; import frc.robot.constants.ConstMotion; import frc.robot.constants.ConstRotors; +import frc.robot.subsystems.StateMachine; +import frc.robot.*; /* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */ public class EjectingHopper extends Command @@ -16,12 +18,15 @@ public class EjectingHopper extends Command /** Creates a new EjectingHopper. */ public EjectingHopper() { + addRequirements(RobotContainer.stateMachineInstance); + // Use addRequirements() here to declare subsystem dependencies. } // Called when the command is initially scheduled. @Override public void initialize() { + RobotContainer.stateMachineInstance.setRobotState(StateMachine.RobotState.EJECTING_HOPPER); RobotContainer.motionInstance.setIntakePivotAngle(ConstMotion.INTAKE_PIVOT_DEPLOY); } From cb1277d440ef1eac247c51796f3f1a64ee3ffec3 Mon Sep 17 00:00:00 2001 From: FRCTeam3255-Shared-K1-10 Date: Sat, 30 May 2026 15:00:49 -0700 Subject: [PATCH 3/7] Potential fix for pull request finding Co-authored-by: Copilot Autofix powered by AI <175728472+Copilot@users.noreply.github.com> --- src/main/java/frc/robot/constants/ConstRotors.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/constants/ConstRotors.java b/src/main/java/frc/robot/constants/ConstRotors.java index fd78663..2b9c40c 100644 --- a/src/main/java/frc/robot/constants/ConstRotors.java +++ b/src/main/java/frc/robot/constants/ConstRotors.java @@ -28,8 +28,8 @@ public class ConstRotors { public static final AngularVelocity INTAKE_TRANSFER_SPEED = Units.RPM.of(3000); public static final double SERIALIZER_SHOOTING_SPEED = 0.5; public static final double STOP = 0; - public static final double REVERSE_SERIALIZER_SPEED = -0.5; - public static final double REVERSE_INTAKE_ROLLER_SPEED = -0.5; + public static final double REVERSE_SERIALIZER_ROLLERS_SPEED = -0.5; + public static final double REVERSE_INTAKE_ROLLERS_SPEED = -0.5; public static final double REVERSE_TRANSFER_ROLLERS_SPEED = -0.5; static { From cb17dd88d908d965ea86e5f8cb906fabc2ceb308 Mon Sep 17 00:00:00 2001 From: FRCTeam3255-Shared <170778697+FRCTeam3255-Shared@users.noreply.github.com> Date: Sat, 30 May 2026 15:01:38 -0700 Subject: [PATCH 4/7] Update EjectingHopper.java Co-Authored-By: lameesnotlame <258483139+lameesnotlame@users.noreply.github.com> --- src/main/java/frc/robot/commands/states/EjectingHopper.java | 3 +++ 1 file changed, 3 insertions(+) diff --git a/src/main/java/frc/robot/commands/states/EjectingHopper.java b/src/main/java/frc/robot/commands/states/EjectingHopper.java index 7011cbd..87109f6 100644 --- a/src/main/java/frc/robot/commands/states/EjectingHopper.java +++ b/src/main/java/frc/robot/commands/states/EjectingHopper.java @@ -28,6 +28,9 @@ public EjectingHopper() { public void initialize() { RobotContainer.stateMachineInstance.setRobotState(StateMachine.RobotState.EJECTING_HOPPER); RobotContainer.motionInstance.setIntakePivotAngle(ConstMotion.INTAKE_PIVOT_DEPLOY); + RobotContainer.rotorsInstance.setIntakeRollersPercentOutput(ConstRotors.REVERSE_INTAKE_ROLLER_SPEED); + RobotContainer.rotorsInstance.setSerializerRollersPercentOutput(ConstRotors.REVERSE_SERIALIZER_SPEED); + RobotContainer.rotorsInstance.setTransferRollersPercentOutput(ConstRotors.REVERSE_TRANSFER_ROLLERS_SPEED); } // Called every time the scheduler runs while the command is scheduled. From dc7defdbbc0115f0f96ff1e445bf0f156dafae20 Mon Sep 17 00:00:00 2001 From: FRCTeam3255-Shared <170778697+FRCTeam3255-Shared@users.noreply.github.com> Date: Sat, 30 May 2026 15:07:31 -0700 Subject: [PATCH 5/7] Update EjectingHopper.java Co-Authored-By: lameesnotlame <258483139+lameesnotlame@users.noreply.github.com> --- .../java/frc/robot/commands/states/EjectingHopper.java | 9 +++------ 1 file changed, 3 insertions(+), 6 deletions(-) diff --git a/src/main/java/frc/robot/commands/states/EjectingHopper.java b/src/main/java/frc/robot/commands/states/EjectingHopper.java index 87109f6..91aea47 100644 --- a/src/main/java/frc/robot/commands/states/EjectingHopper.java +++ b/src/main/java/frc/robot/commands/states/EjectingHopper.java @@ -28,17 +28,14 @@ public EjectingHopper() { public void initialize() { RobotContainer.stateMachineInstance.setRobotState(StateMachine.RobotState.EJECTING_HOPPER); RobotContainer.motionInstance.setIntakePivotAngle(ConstMotion.INTAKE_PIVOT_DEPLOY); - RobotContainer.rotorsInstance.setIntakeRollersPercentOutput(ConstRotors.REVERSE_INTAKE_ROLLER_SPEED); - RobotContainer.rotorsInstance.setSerializerRollersPercentOutput(ConstRotors.REVERSE_SERIALIZER_SPEED); - RobotContainer.rotorsInstance.setTransferRollersPercentOutput(ConstRotors.REVERSE_TRANSFER_ROLLERS_SPEED); + RobotContainer.rotorsInstance.setIntakeRollersPercentOutput(ConstRotors.REVERSE_SERIALIZER_ROLLERS_SPEED); + RobotContainer.rotorsInstance.setSerializerRollersPercentOutput(ConstRotors.REVERSE_TRANSFER_ROLLERS_SPEED); + RobotContainer.rotorsInstance.setTransferRollersPercentOutput(ConstRotors.REVERSE_INTAKE_ROLLERS_SPEED); } // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - RobotContainer.rotorsInstance.setIntakeRollersPercentOutput(ConstRotors.REVERSE_INTAKE_ROLLER_SPEED); - RobotContainer.rotorsInstance.setSerializerRollersPercentOutput(ConstRotors.REVERSE_SERIALIZER_SPEED); - RobotContainer.rotorsInstance.setTransferRollersPercentOutput(ConstRotors.REVERSE_TRANSFER_ROLLERS_SPEED); } // Called once the command ends or is interrupted. From 6c90f40f720bb3a24596a992b16f6d17b7147e79 Mon Sep 17 00:00:00 2001 From: FRCTeam3255-Shared <170778697+FRCTeam3255-Shared-K1-10@users.noreply.github.com> Date: Sat, 30 May 2026 15:17:26 -0700 Subject: [PATCH 6/7] intaking logic command fixes Co-Authored-By: jayden mendoza <244560677+jaymendo670-png@users.noreply.github.com> --- src/main/java/frc/robot/commands/states/Intaking.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/commands/states/Intaking.java b/src/main/java/frc/robot/commands/states/Intaking.java index 02bdcdf..86c5c38 100644 --- a/src/main/java/frc/robot/commands/states/Intaking.java +++ b/src/main/java/frc/robot/commands/states/Intaking.java @@ -18,13 +18,13 @@ public Intaking() { @Override public void initialize() { RobotContainer.motionInstance.setIntakePivotAngle(ConstMotion.INTAKE_PIVOT_DEPLOY); + RobotContainer.rotorsInstance.setIntakeRollersPercentOutput(ConstRotors.INTAKE_ROLLERS_SPEED); + } // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - RobotContainer.rotorsInstance.setIntakeRollersPercentOutput(ConstRotors.INTAKE_ROLLERS_SPEED); - } // Called once the command ends or is interrupted. From 44c520cdfbc437446d09ad26f7b0fb49df0585a9 Mon Sep 17 00:00:00 2001 From: FRCTeam3255-Shared <170778697+FRCTeam3255-Shared@users.noreply.github.com> Date: Sat, 30 May 2026 15:25:34 -0700 Subject: [PATCH 7/7] revert changes in tldraw --- robot.tldr | 38 ++++++++++++++++---------------------- 1 file changed, 16 insertions(+), 22 deletions(-) diff --git a/robot.tldr b/robot.tldr index 4dc1617..f756549 100644 --- a/robot.tldr +++ b/robot.tldr @@ -1527,9 +1527,9 @@ "typeName": "shape" }, { - "x": 1643.8525015234095, - "y": 271.02608216176725, - "z": 0.47404401471199936, + "x": 2622.341679669581, + "y": 552.5721428142112, + "z": 0.1697572539181728, "meta": {}, "id": "camera:page:page", "typeName": "camera" @@ -2479,9 +2479,9 @@ "typeName": "shape" }, { - "x": 0, - "y": 0, - "z": 1, + "x": 206.3569147328484, + "y": 1852.994123336534, + "z": 0.12395093385564669, "meta": {}, "id": "camera:page:grvVnvcP2QYOnDHPI3N7D", "typeName": "camera" @@ -6007,14 +6007,6 @@ "index": "a2Un8z4d", "typeName": "shape" }, - { - "name": "", - "color": "#BD54C6", - "imageUrl": "", - "meta": {}, - "id": "user:KY6b4fIpRbclXVZZj2JXG", - "typeName": "user" - }, { "x": 740.0541678007419, "y": 1761.5721268674733, @@ -6559,9 +6551,11 @@ "typeName": "binding" }, { - "editingShapeId": null, + "editingShapeId": "shape:iv5HxmgE8cO6VlR2ztcz_", "croppingShapeId": null, - "selectedShapeIds": [], + "selectedShapeIds": [ + "shape:iv5HxmgE8cO6VlR2ztcz_" + ], "hoveredShapeId": "shape:VVsLcsMmoUoFc0sDMQsVV", "erasingShapeIds": [], "hintingShapeIds": [], @@ -6739,8 +6733,8 @@ "screenBounds": { "x": 0, "y": 0, - "w": 1454, - "h": 918 + "w": 660, + "h": 614 }, "insets": [ false, @@ -6757,7 +6751,7 @@ "isFocused": true, "devicePixelRatio": 1, "isCoarsePointer": false, - "isHoveringCanvas": true, + "isHoveringCanvas": false, "openMenus": [], "isChangingStyle": false, "isReadonly": false, @@ -7577,9 +7571,9 @@ "typeName": "binding" }, { - "x": 539.9439909812469, - "y": 334.686492004461, - "z": 0.28565081673697756, + "x": -2733.4690724786497, + "y": -205.34068450972168, + "z": 0.6471544470914002, "meta": {}, "id": "camera:page:Wfhj8q2d0tvavwNlrwo_4", "typeName": "camera"