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Outreach tweaks #107

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Merged
CanineSatsuma6 merged 4 commits into from
Apr 27, 2026
Merged

Outreach tweaks #107

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03d2f62
Added manual shoot.
CanineSatsuma6 Apr 14, 2026
3761ad5
added controls to the joystick and added time limit to the retract cmd.
CanineSatsuma6 Apr 27, 2026
2cd9ba5
changed the slider to control the speed
shayan-mrafiee Apr 27, 2026
5748cfa
fix math on throttle
CanineSatsuma6 Apr 27, 2026
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2 changes: 1 addition & 1 deletion .vscode/settings.json
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Original file line number Diff line number Diff line change
Expand Up @@ -59,7 +59,7 @@
"edu.wpi.first.math.**.struct.*"
],
"java.dependency.enableDependencyCheckup": false,
"java.jdt.ls.vmargs": "-XX:+UseParallelGC -XX:GCTimeRatio=4 -XX:AdaptiveSizePolicyWeight=90 -Dsun.zip.disableMemoryMapping=true -Xmx4G -Xms100m -Xlog:disable",
"java.jdt.ls.vmargs": "-XX:+UseParallelGC -XX:GCTimeRatio=4 -XX:AdaptiveSizePolicyWeight=90 -Dsun.zip.disableMemoryMapping=true -Xmx8G -Xms100m -Xlog:disable",
"java.format.settings.url": ".vscode/java-formatter.xml",
"editor.formatOnSave": true,
"editor.defaultFormatter": "redhat.java",
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31 changes: 22 additions & 9 deletions src/main/java/frc/robot/Constants.java
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Expand Up @@ -77,12 +77,12 @@ public static class CANConstants
* CAN IDs 1 through 13 are used by the drive subsystem and configured in
* TunerConstants
*/
public static final int INTAKE = 14; // Vortex
public static final int INTAKE_EXTEND = 15; // Vortex
public static final int FEEDER_MOTOR = 16; // Vortex
public static final int TURRET_MOTOR = 17; // Talon
public static final int FLYWHEEL_LEAD = 18; // Vortex
public static final int FLYWHEEL_FOLLOW = 19; // Vortex
public static final int INTAKE = 14; // Vortex
public static final int INTAKE_EXTEND = 15; // Vortex
public static final int FEEDER_MOTOR = 16; // Vortex
public static final int TURRET_MOTOR = 17; // Talon
public static final int FLYWHEEL_LEAD = 18; // Vortex
public static final int FLYWHEEL_FOLLOW = 19; // Vortex
public static final int CLIMBER_EXTEND = 21;
public static final int CLIMBER_ROTATE = 22;
public static final int ROTOR_MOTOR = 23; // Vortex
Expand Down Expand Up @@ -123,8 +123,8 @@ public static class DriveConstants

public static class IntakeConstants
{
public static final Voltage INTAKE_VOLTS = Volts.of(9.0);
public static final Voltage REVERSE_VOLTS = Volts.of(-9.0);
public static final Voltage INTAKE_VOLTS = Volts.of(4.0);
public static final Voltage REVERSE_VOLTS = Volts.of(-6.0);
public static final Current ROLLER_CURRENT_LIMIT_EXTENDED = Amps.of(80);
public static final Current ROLLER_CURRENT_LIMIT_ACTIVE = Amps.of(40);
public static final Current EXTENSION_CURRENT_LIMIT = Amps.of(60);
Expand All @@ -145,6 +145,7 @@ public static class IntakeConstants
public static final Distance JIGGLE_LIMIT_MARGIN = Inches.of(0.0);
public static final Time JIGGLE_MOVE_TIMEOUT = Seconds.of(0.60);
public static final Time JIGGLE_PAUSE_TIME = Seconds.of(0.02);
public static final Time RETRACT_TIMEOUT = Seconds.of(4.0);
}

public static class GeneralConstants
Expand Down Expand Up @@ -216,7 +217,19 @@ public static class ShooterConstants
public static final Translation2d BLUE_HUB = new Translation2d(Inches.of(182.1), Inches.of(158.85));
public static final Translation2d RED_HUB = new Translation2d(Inches.of(469.1), Inches.of(158.85));
public static final Translation2d ROBOT_TO_TURRET_PIVOT = new Translation2d(Inches.of(-0.5), Inches.of(5.75));
public static final Translation2d TURRET_PIVOT_TO_RELEASE = new Translation2d(Inches.of(1.0), Inches.zero()); // Measured release point is ~1 in forward of the pivot (turret -90), not
public static final Translation2d TURRET_PIVOT_TO_RELEASE = new Translation2d(Inches.of(1.0), Inches.zero()); // Measured
// release
// point
// is
// ~1
// in
// forward
// of
// the
// pivot
// (turret
// -90),
// not
// lateral
public static final Translation2d ROBOT_TO_TURRET_RELEASE = ROBOT_TO_TURRET_PIVOT.plus(TURRET_PIVOT_TO_RELEASE);
public static final Translation2d ROBOT_TO_TURRET_CAMERA = new Translation2d(Inches.zero(), Inches.of(8.0));
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28 changes: 19 additions & 9 deletions src/main/java/frc/robot/RobotContainer.java
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Expand Up @@ -38,8 +38,8 @@ public class RobotContainer
private final Intake _intake = new Intake();
private final Shooter _shooter = new Shooter(_drive::getState, _intake::isExtended, _intake::isRetracted);
private final Autos _autos = new Autos(_drive, _shooter, _intake);
private Dimensionless _driveMultiplier = DriveConstants.FULL_SPEED_SCALE;
private double _manualFlywheelRPM = MANUAL_FLYWHEEL_START_RPM;
// private Dimensionless _driveMultiplier = DriveConstants.FULL_SPEED_SCALE;
private double _manualFlywheelRPM = MANUAL_FLYWHEEL_START_RPM;

public RobotContainer()
{
Expand All @@ -48,17 +48,17 @@ public RobotContainer()

private LinearVelocity getDrive()
{
return MeasureUtil.applyDeadband(DriveConstants.MAX_SPEED.times(Value.of(-_driver.getY())).times(_driveMultiplier), DriveConstants.TRANSLATE_DEADBAND);
return MeasureUtil.applyDeadband(DriveConstants.MAX_SPEED.times(Value.of(-_driver.getY())).times((-_driver.getRawAxis(3) + 1) / 2.0), DriveConstants.TRANSLATE_DEADBAND);
}

private LinearVelocity getStrafe()
{
return MeasureUtil.applyDeadband(DriveConstants.MAX_SPEED.times(Value.of(-_driver.getX())).times(_driveMultiplier), DriveConstants.TRANSLATE_DEADBAND);
return MeasureUtil.applyDeadband(DriveConstants.MAX_SPEED.times(Value.of(-_driver.getX())).times((-_driver.getRawAxis(3) + 1) / 2.0), DriveConstants.TRANSLATE_DEADBAND);
}

private AngularVelocity getRotate()
{
return MeasureUtil.applyDeadband(DriveConstants.MAX_ANGULAR_RATE.times(Value.of(-_driver.getTwist())).times(_driveMultiplier), DriveConstants.ROTATE_DEADBAND);
return MeasureUtil.applyDeadband(DriveConstants.MAX_ANGULAR_RATE.times(Value.of(-_driver.getTwist())).times((-_driver.getRawAxis(3) + 1) / 2.0), DriveConstants.ROTATE_DEADBAND);
}

private SwerveRequest.FieldCentric getFieldCentricRequest()
Expand All @@ -79,17 +79,27 @@ private void configureBindings()
final var idle = new SwerveRequest.Idle();
RobotModeTriggers.disabled().whileTrue(_drive.applyRequest(() -> idle).ignoringDisable(true));

_driver.button(1).whileTrue(Commands.parallel(_shooter.shoot(), Commands.startEnd(() -> _drive.disableVisionPoseCorrection(true), () -> _drive.disableVisionPoseCorrection(false))));
_driver.button(2).whileTrue(Commands.startEnd(() -> _driveMultiplier = DriveConstants.SLOW_MODE_SCALE, () -> _driveMultiplier = DriveConstants.FULL_SPEED_SCALE));
_driver.button(3).whileTrue(_drive.applyRequest(() -> _robotCentric.withVelocityX(getDrive()).withVelocityY(getStrafe()).withRotationalRate(getRotate())));
// _driver.button(1).whileTrue(Commands.parallel(_shooter.shoot(),
// Commands.startEnd(() -> _drive.disableVisionPoseCorrection(true), () ->
// _drive.disableVisionPoseCorrection(false))));
_driver.button(1).whileTrue(_shooter.manualShootCmd(() -> _manualFlywheelRPM));
// _driver.button(2).whileTrue(Commands.startEnd(() -> _driveMultiplier =
// DriveConstants.SLOW_MODE_SCALE, () -> _driveMultiplier =
// DriveConstants.FULL_SPEED_SCALE));
_driver.button(2).whileTrue(_intake.runRollersForward());
_driver.button(3).onTrue(_intake.getExtendCmd());
_driver.button(4).onTrue(_intake.getRetractCmd());
_driver.button(5).whileTrue(_shooter.pass());
_driver.button(6).whileTrue(_shooter.trackOnly());
_driver.button(7).onTrue(_drive.runOnce(_drive::seedFieldCentric));
_driver.button(8).onTrue(_shooter.homeTurret());
_driver.button(8).onTrue(_shooter.setManualTurretAngle(Degrees.zero()));
_driver.button(9).onTrue(_shooter.setManualTurretAngle(Degrees.of(45.0)));
_driver.button(10).onTrue(_shooter.setManualTurretAngle(Degrees.of(-45.0)));
_driver.button(11).onTrue(_shooter.setManualTurretAngle(Degrees.of(90.0)));
_driver.button(12).onTrue(_shooter.setManualTurretAngle(Degrees.of(-90.0)));
_driver.button(13).onTrue(_shooter.setManualTurretAngle(Degrees.of(135.0)));
_driver.button(14).onTrue(_shooter.setManualTurretAngle(Degrees.of(-135.0)));
_driver.button(16).whileTrue(_drive.applyRequest(() -> _robotCentric.withVelocityX(getDrive()).withVelocityY(getStrafe()).withRotationalRate(getRotate())));

_operator.leftTrigger().whileTrue(_intake.runRollersForward());
_operator.leftBumper().whileTrue(_intake.runRollersReverse());
Expand Down
2 changes: 1 addition & 1 deletion src/main/java/frc/robot/subsystems/intake/Intake.java
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Expand Up @@ -104,7 +104,7 @@ public Command jiggle()

public Command getRetractCmd()
{
return Commands.sequence(runOnce(() -> setRollerCurrentLimitMode(RollerCurrentLimitMode.ForceActive)), startRollersForward(), setExtensionCmd(false), Commands.waitUntil(this::isRetracted)).finallyDo(() ->
return Commands.sequence(runOnce(() -> setRollerCurrentLimitMode(RollerCurrentLimitMode.ForceActive)), startRollersForward(), setExtensionCmd(false), Commands.waitUntil(this::isRetracted)).withTimeout(2.0).finallyDo(() ->
{
setIntakeState(IntakeState.Off);
setRollerCurrentLimitMode(RollerCurrentLimitMode.AutoByExtension);
Expand Down
13 changes: 13 additions & 0 deletions src/main/java/frc/robot/subsystems/shooter/Shooter.java
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Expand Up @@ -7,6 +7,7 @@
import static edu.wpi.first.units.Units.RPM;
import static edu.wpi.first.units.Units.Seconds;

import java.util.function.DoubleSupplier;
import java.util.function.Supplier;

import com.ctre.phoenix6.swerve.SwerveDrivetrain.SwerveDriveState;
Expand All @@ -17,6 +18,8 @@
import edu.wpi.first.units.measure.Angle;
import edu.wpi.first.units.measure.AngularVelocity;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.Constants.ShooterConstants;
import frc.robot.subsystems.shooter.TurretDirector.ShotMode;
Expand Down Expand Up @@ -198,6 +201,16 @@ public Command setManualTurretAngle(Angle angle)
return runOnce(() -> setManualTurretAngleCommand(angle));
}

public Command manualShootCmd(DoubleSupplier speed)
{
// @formatter:off
return Commands.parallel(
Commands.startEnd(() -> setManualFlywheel(speed.getAsDouble()), () -> stopManualFlywheel()),
runManualFeeder()
);
// @formatter:on
}

public Command trackOnly()
{
return startEnd(() ->
Expand Down