diff --git a/src/main/java/frc/robot/commands/DriveManual.java b/src/main/java/frc/robot/commands/DriveManual.java index 6d0249b..5aba99f 100644 --- a/src/main/java/frc/robot/commands/DriveManual.java +++ b/src/main/java/frc/robot/commands/DriveManual.java @@ -15,7 +15,6 @@ import frc.robot.constants.ConstDrivetrain; import frc.robot.constants.ConstField; import frc.robot.subsystems.DriverStateMachine.DriverState; -import frc.robot.subsystems.Drivetrain; public class DriveManual extends Command { DoubleSupplier xAxis, yAxis, rotationXAxis; diff --git a/src/main/java/frc/robot/commands/states/EjectingHopper.java b/src/main/java/frc/robot/commands/states/EjectingHopper.java index 5fa1ee1..843105a 100644 --- a/src/main/java/frc/robot/commands/states/EjectingHopper.java +++ b/src/main/java/frc/robot/commands/states/EjectingHopper.java @@ -27,9 +27,9 @@ public EjectingHopper() { public void initialize() { RobotContainer.stateMachineInstance.setRobotState(StateMachine.RobotState.EJECTING_HOPPER); RobotContainer.motionInstance.setIntakePivotAngle(ConstMotion.DEPLOY_INTAKE_PIVOT_ANGLE); - RobotContainer.rotorsInstance.setIntakeRollersPercentOutput(ConstRotors.REVERSE_SERIALIZER_ROLLERS_SPEED); - RobotContainer.rotorsInstance.setSerializerRollersPercentOutput(ConstRotors.REVERSE_TRANSFER_ROLLERS_SPEED); - RobotContainer.rotorsInstance.setTransferRollersPercentOutput(ConstRotors.REVERSE_INTAKE_ROLLERS_SPEED); + RobotContainer.rotorsInstance.setIntakeRollersPercentOutput(ConstRotors.EJECTING_INTAKE_ROLLERS_EAST_SPEED); + RobotContainer.rotorsInstance.setSerializerRollersPercentOutput(ConstRotors.EJECTING_SERIALIZER_ROLLERS_SPEED); + RobotContainer.rotorsInstance.setTransferRollersPercentOutput(ConstRotors.REVERSE_TRANSFER_ROLLERS_EAST_SPEED); } // Called every time the scheduler runs while the command is scheduled. diff --git a/src/main/java/frc/robot/commands/states/ReversingShooter.java b/src/main/java/frc/robot/commands/states/ReversingShooter.java index b785d2b..b3827f3 100644 --- a/src/main/java/frc/robot/commands/states/ReversingShooter.java +++ b/src/main/java/frc/robot/commands/states/ReversingShooter.java @@ -19,8 +19,8 @@ public ReversingShooter() { // Called when the command is initially scheduled. @Override public void initialize() { - RobotContainer.rotorsInstance.setTransferRollersPercentOutput(ConstRotors.REVERSE_SHOOTING_SPEED); - RobotContainer.rotorsInstance.setFlywheelPercentOutput(ConstRotors.REVERSE_SHOOTING_SPEED); + RobotContainer.rotorsInstance.setTransferRollersPercentOutput(ConstRotors.REVERSE_TRANSFER_ROLLERS_EAST_SPEED); + RobotContainer.rotorsInstance.setFlywheelPercentOutput(ConstRotors.REVERSE_FLYWHEEL_SPEED); RobotContainer.stateMachineInstance.setRobotState(StateMachine.RobotState.REVERSING_SHOOTER); } diff --git a/src/main/java/frc/robot/commands/states/Shooting.java b/src/main/java/frc/robot/commands/states/Shooting.java index ce62b1f..1f9c341 100644 --- a/src/main/java/frc/robot/commands/states/Shooting.java +++ b/src/main/java/frc/robot/commands/states/Shooting.java @@ -27,7 +27,7 @@ public Shooting() { public void initialize() { RobotContainer.stateMachineInstance.setRobotState((StateMachine.RobotState.SHOOTING)); RobotContainer.rotorsInstance.setTransferRollersSpeeds(ConstRotors.TRANSFER_ROLLERS_SPEED); - RobotContainer.rotorsInstance.setSerializerRollersPercentOutput(ConstRotors.SERIALIZER_SHOOTING_SPEED); + RobotContainer.rotorsInstance.setSerializerRollersPercentOutput(ConstRotors.SERIALIZER_ROLLERS_SPEED); intakeAgitationTimer.restart(); } diff --git a/src/main/java/frc/robot/commands/states/preps/PrepCorner.java b/src/main/java/frc/robot/commands/states/preps/PrepCorner.java index 699f925..b22d073 100644 --- a/src/main/java/frc/robot/commands/states/preps/PrepCorner.java +++ b/src/main/java/frc/robot/commands/states/preps/PrepCorner.java @@ -12,7 +12,7 @@ public class PrepCorner extends BasePrep { /** Creates a new PrepNonOutpost. */ public PrepCorner() { - super(ConstRotors.FLYWHEEL_CORNER_SPEED, ConstMotion.HOOD_CORNER_ANGLE, RobotState.PREP_CORNER); + super(ConstRotors.FLYWHEEL_PREP_CORNER_SPEED, ConstMotion.HOOD_PREP_CORNER_ANGLE, RobotState.PREP_CORNER); // Use addRequirements() here to declare subsystem dependencies. } diff --git a/src/main/java/frc/robot/commands/states/preps/PrepHub.java b/src/main/java/frc/robot/commands/states/preps/PrepHub.java index 6a62554..24ee455 100644 --- a/src/main/java/frc/robot/commands/states/preps/PrepHub.java +++ b/src/main/java/frc/robot/commands/states/preps/PrepHub.java @@ -14,7 +14,7 @@ public class PrepHub extends BasePrep { /** Creates a new PrepDepot. */ public PrepHub() { - super(ConstRotors.FLYWHEEL_HUB_SPEED, ConstMotion.HOOD_HUB_ANGLE, RobotState.PREP_HUB); + super(ConstRotors.FLYWHEEL_PREP_HUB_SPEED, ConstMotion.HOOD_PREP_HUB_ANGLE, RobotState.PREP_HUB); // setState // Use addRequirements() here to declare subsystem dependencies. diff --git a/src/main/java/frc/robot/commands/states/preps/PrepNeutralToAlliance.java b/src/main/java/frc/robot/commands/states/preps/PrepNeutralToAlliance.java index 425fd41..fac6470 100644 --- a/src/main/java/frc/robot/commands/states/preps/PrepNeutralToAlliance.java +++ b/src/main/java/frc/robot/commands/states/preps/PrepNeutralToAlliance.java @@ -14,7 +14,7 @@ public class PrepNeutralToAlliance extends BasePrep { /** Creates a new PrepNeautralToAlliance. */ public PrepNeutralToAlliance() { - super(ConstRotors.FLYWHEEL_NEUTRAL_TO_ALLIANCE_SPEED, ConstMotion.HOOD_NEUTRAL_TO_ALLIANCE_ANGLE, + super(ConstRotors.FLYWHEEL_PREP_NEUTRAL_TO_ALLIANCE_SPEED, ConstMotion.HOOD_PREP_NEUTRAL_TO_ALLIANCE_ANGLE, RobotState.PREP_NEUTRAL_TO_ALLIANCE); // Use addRequirements() here to declare subsystem dependencies. diff --git a/src/main/java/frc/robot/commands/states/preps/PrepOpponentToAlliance.java b/src/main/java/frc/robot/commands/states/preps/PrepOpponentToAlliance.java index 4b729e7..a38acd0 100644 --- a/src/main/java/frc/robot/commands/states/preps/PrepOpponentToAlliance.java +++ b/src/main/java/frc/robot/commands/states/preps/PrepOpponentToAlliance.java @@ -13,7 +13,7 @@ public class PrepOpponentToAlliance extends BasePrep { /** Creates a new PrepOpponentToAlliance. */ public PrepOpponentToAlliance() { - super(ConstRotors.FLYWHEEL_OPPONENT_TO_ALLIANCE_SPEED, ConstMotion.HOOD_OPPENENT_TO_ALLIANCE_ANGLE, + super(ConstRotors.FLYWHEEL_PREP_OPPONENT_TO_ALLIANCE_SPEED, ConstMotion.HOOD_PREP_OPPONENT_TO_ALLIANCE_ANGLE, RobotState.PREP_OPPONENT_TO_ALLIANCE); // Use addRequirements() here to declare subsystem dependencies. diff --git a/src/main/java/frc/robot/commands/states/preps/PrepTower.java b/src/main/java/frc/robot/commands/states/preps/PrepTower.java index f0bbc6f..7d3e389 100644 --- a/src/main/java/frc/robot/commands/states/preps/PrepTower.java +++ b/src/main/java/frc/robot/commands/states/preps/PrepTower.java @@ -12,7 +12,7 @@ public class PrepTower extends BasePrep { /** Creates a new PrepOutpost. */ public PrepTower() { - super(ConstRotors.FLYWHEEL_TOWER_SPEED, ConstMotion.HOOD_TOWER_ANGLE, RobotState.PREP_TOWER); + super(ConstRotors.FLYWHEEL_PREP_TOWER_SPEED, ConstMotion.HOOD_PREP_TOWER_ANGLE, RobotState.PREP_TOWER); // Use addRequirements() here to declare subsystem dependencies. } diff --git a/src/main/java/frc/robot/commands/states/preps/PrepTrench.java b/src/main/java/frc/robot/commands/states/preps/PrepTrench.java index 693211e..514a367 100644 --- a/src/main/java/frc/robot/commands/states/preps/PrepTrench.java +++ b/src/main/java/frc/robot/commands/states/preps/PrepTrench.java @@ -12,7 +12,7 @@ public class PrepTrench extends BasePrep { /** Creates a new PrepTrench. */ public PrepTrench() { - super(ConstRotors.FLYWHEEL_TRENCH_SPEED, ConstMotion.HOOD_TRENCH_ANGLE, RobotState.PREP_TRENCH); + super(ConstRotors.FLYWHEEL_PREP_TRENCH_SPEED, ConstMotion.HOOD_PREP_TRENCH_ANGLE, RobotState.PREP_TRENCH); // Use addRequirements() here to declare subsystem dependencies. } diff --git a/src/main/java/frc/robot/constants/ConstMotion.java b/src/main/java/frc/robot/constants/ConstMotion.java index 118cfc7..52cafe9 100644 --- a/src/main/java/frc/robot/constants/ConstMotion.java +++ b/src/main/java/frc/robot/constants/ConstMotion.java @@ -29,13 +29,13 @@ public class ConstMotion { public static final Angle HOOD_PIVOT_ANGLE_RETRACT = Degrees.of(0); public static final double STOP = 0; public static final Angle HOOD_NONE_ANGLE = Degrees.of(0); - public static final Angle HOOD_TRENCH_ANGLE = Units.Degrees.of(13); - public static final Angle HOOD_CORNER_ANGLE = Units.Degrees.of(23.5); - public static final Angle HOOD_TOWER_ANGLE = Units.Degrees.of(14); - public static final Angle HOOD_HUB_ANGLE = Units.Degrees.of(9.5); - public static final Angle HOOD_ANYWHERE_ANGLE = Units.Degrees.of(45); - public static final Angle HOOD_NEUTRAL_TO_ALLIANCE_ANGLE = Units.Degrees.of(45); - public static final Angle HOOD_OPPENENT_TO_ALLIANCE_ANGLE = Units.Degrees.of(37); + public static final Angle HOOD_PREP_TRENCH_ANGLE = Units.Degrees.of(13); + public static final Angle HOOD_PREP_CORNER_ANGLE = Units.Degrees.of(23.5); + public static final Angle HOOD_PREP_TOWER_ANGLE = Units.Degrees.of(14); + public static final Angle HOOD_PREP_HUB_ANGLE = Units.Degrees.of(9.5); + public static final Angle HOOD_PREP_ANYWHERE_ANGLE = Units.Degrees.of(45); + public static final Angle HOOD_PREP_NEUTRAL_TO_ALLIANCE_ANGLE = Units.Degrees.of(45); + public static final Angle HOOD_PREP_OPPONENT_TO_ALLIANCE_ANGLE = Units.Degrees.of(37); static { diff --git a/src/main/java/frc/robot/constants/ConstRotors.java b/src/main/java/frc/robot/constants/ConstRotors.java index 64c3624..f012360 100644 --- a/src/main/java/frc/robot/constants/ConstRotors.java +++ b/src/main/java/frc/robot/constants/ConstRotors.java @@ -22,31 +22,27 @@ public class ConstRotors { public static final TalonFXConfiguration FLYWHEEL_EAST_CONFIGURATION = new TalonFXConfiguration(); public static final TalonFXConfiguration FLYWHEEL_WEST_CONFIGURATION = new TalonFXConfiguration(); - public static final AngularVelocity FLYWHEEL_CORNER_SPEED = Units.RPM.of(4250); - public static final AngularVelocity FLYWHEEL_HUB_SPEED = Units.RPM.of(4000); - public static final AngularVelocity FLYWHEEL_TRENCH_SPEED = Units.RPM.of(4000); - public static final AngularVelocity FLYWHEEL_TOWER_SPEED = Units.RPM.of(4000); - public static final AngularVelocity FLYWHEEL_ANYWHERE_SPEED = Units.RPM.of(4100); - public static final AngularVelocity FLYWHEEL_NEUTRAL_TO_ALLIANCE_SPEED = Units.RPM.of(3700); - public static final AngularVelocity FLYWHEEL_OPPONENT_TO_ALLIANCE_SPEED = Units.RPM.of(6400); + public static final AngularVelocity FLYWHEEL_PREP_CORNER_SPEED = Units.RPM.of(4250); + public static final AngularVelocity FLYWHEEL_PREP_HUB_SPEED = Units.RPM.of(4000); + public static final AngularVelocity FLYWHEEL_PREP_TRENCH_SPEED = Units.RPM.of(4000); + public static final AngularVelocity FLYWHEEL_PREP_TOWER_SPEED = Units.RPM.of(4000); + public static final AngularVelocity FLYWHEEL_PREP_ANYWHERE_SPEED = Units.RPM.of(4100); + public static final AngularVelocity FLYWHEEL_PREP_NEUTRAL_TO_ALLIANCE_SPEED = Units.RPM.of(3700); + public static final AngularVelocity FLYWHEEL_PREP_OPPONENT_TO_ALLIANCE_SPEED = Units.RPM.of(6400); public static final double INTAKE_ROLLERS_SPEED = 1; public static final AngularVelocity FLYWHEEL_SHOOTING_SPEED = Units.RPM.of(1000); - // public static final AngularVelocity INTAKE_ROLLER_SPEED = Units.RPM.of(2000); - public static final double SERIALIZER_SHOOTING_SPEED = 1; + public static final double SERIALIZER_ROLLERS_SPEED = 1; public static final double STOP = 0; public static final AngularVelocity TRANSFER_ROLLERS_SPEED = Units.RPM.of(3400); public static final AngularVelocity FLYWHEEL_TOLERANCE = Units.RPM.of(100); - public static final double REVERSE_SHOOTING_SPEED = -1; - public static final double REVERSE_SERIALIZER_ROLLERS_SPEED = -1; - public static final double REVERSE_INTAKE_ROLLERS_SPEED = -1; - public static final double REVERSE_TRANSFER_ROLLERS_SPEED = -1; + public static final double REVERSE_FLYWHEEL_SPEED = -1; + public static final double EJECTING_SERIALIZER_ROLLERS_SPEED = -1; + public static final double EJECTING_INTAKE_ROLLERS_EAST_SPEED = -1; + public static final double REVERSE_TRANSFER_ROLLERS_EAST_SPEED = -1; static { - // SHOOTER_TRANSFER_EAST_CONFIGURATION.MotorOutput.NeutralMode = - // NeutralModeValue.Coast;/ - FLYWHEEL_WEST_CONFIGURATION.MotorOutput.NeutralMode = NeutralModeValue.Coast; FLYWHEEL_WEST_CONFIGURATION.MotorOutput.Inverted = InvertedValue.CounterClockwise_Positive; FLYWHEEL_WEST_CONFIGURATION.Slot0.kS = 0.14;