Merge branch 'amp-bar-reamp' into pre-marc

Author: Vignesh1234587

src/main/java/frc/robot/BuildConstants.java

@@ -5,13 +5,12 @@ public final class BuildConstants {
   public static final String MAVEN_GROUP = "";
   public static final String MAVEN_NAME = "2024 Robot Code";
   public static final String VERSION = "unspecified";
-
   public static final int GIT_REVISION = 321;
   public static final String GIT_SHA = "595783aa307f432a03116af1c4f77599478ee51c";
   public static final String GIT_DATE = "2024-08-12 20:54:55 EDT";
-  public static final String GIT_BRANCH = "amp-bar";
-  public static final String BUILD_DATE = "2024-08-13 23:59:25 EDT";
-  public static final long BUILD_UNIX_TIME = 1723607965830L;
+  public static final String GIT_BRANCH = "amp-bar-reamp";
+  public static final String BUILD_DATE = "2024-08-14 20:13:53 EDT";
+  public static final long BUILD_UNIX_TIME = 1723680833471L;
   public static final int DIRTY = 1;
 
   private BuildConstants() {}

src/main/java/frc/robot/RobotContainer.java

@@ -917,6 +917,19 @@ private void manipControls() {
                     new InstantCommand(() -> elevator.setConstraints(30, 85)),
                     new InstantCommand(() -> shooter.stopFlywheels(), shooter),
                     new SetPivotTarget(Constants.PivotConstants.STOW_SETPOINT_DEG, pivot))));
+    // manipAButton.onTrue(
+    //     new InstantCommand(() -> pivot.setShootState(SHOOT_STATE.AMP))
+    //         .andThen(new ScoreAmp(elevator, pivot, shooter, drive)));
+
+    // manipAButton.onFalse(
+    //     new InstantCommand(() -> pivot.setShootState(SHOOT_STATE.AIMBOT))
+    //         .andThen(
+    //             new SequentialCommandGroup(
+    //                 new InstantCommand(() -> shooter.turnOffFan()),
+    //                 new SetElevatorTarget(0, 0.5, elevator),
+    //                 new InstantCommand(() -> elevator.setConstraints(30, 85)),
+    //                 new InstantCommand(() -> shooter.stopFlywheels(), shooter),
+    //                 new SetPivotTarget(Constants.PivotConstants.STOW_SETPOINT_DEG, pivot))));
 
     manipBButton.onTrue(
         new ParallelCommandGroup(

src/main/java/frc/robot/commands/ScoreAmp.java

@@ -23,7 +23,7 @@ public ScoreAmp(Elevator elevator, Pivot pivot, Shooter shooter, Drive drive) {
 amp-bar
         new ParallelCommandGroup(
             new InstantCommand(() -> elevator.setConstraints(100, 640), elevator),
-            new InstantCommand(() -> shooter.setFlywheelRPMs(2400, 2400), shooter),
+            new InstantCommand(() -> shooter.setFlywheelRPMs(500, 700), shooter),
             new SetPivotTarget(Constants.PivotConstants.AMP_SETPOINT_DEG, pivot)),
         new SetAmpBarTarget(195, 0, elevator),
 

src/main/java/frc/robot/subsystems/elevator/AmpBarIOSparkMAX.java

@@ -13,7 +13,7 @@ public class AmpBarIOSparkMAX implements AmpBarIO {
   private final CANSparkMax barMotor;
   private final SparkPIDController pid;
   private double barPositionSetpoint;
-  private final double gearRatio = 5. / 1.;
+  private final double gearRatio = 15. / 1.;
 
   public AmpBarIOSparkMAX(int motorID) {