gains

Author: davidchen20

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

@@ -5,12 +5,12 @@ public final class BuildConstants {
   public static final String MAVEN_GROUP = "";
   public static final String MAVEN_NAME = "2024RobotCode";
   public static final String VERSION = "unspecified";
-  public static final int GIT_REVISION = 304;
-  public static final String GIT_SHA = "5bc910513e7bcfd602293d83b68b6e352918016c";
-  public static final String GIT_DATE = "2024-07-26 18:58:28 EDT";
+  public static final int GIT_REVISION = 306;
+  public static final String GIT_SHA = "b02b6688c07f40ee3a6f56285b1df4f73fe24988";
+  public static final String GIT_DATE = "2024-07-27 08:11:16 EDT";
   public static final String GIT_BRANCH = "rainbow-rumble";
-  public static final String BUILD_DATE = "2024-07-26 18:59:58 EDT";
-  public static final long BUILD_UNIX_TIME = 1722034798371L;
+  public static final String BUILD_DATE = "2024-07-27 09:04:40 EDT";
+  public static final long BUILD_UNIX_TIME = 1722085480261L;
   public static final int DIRTY = 1;
 
   private BuildConstants() {}

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

@@ -41,7 +41,6 @@
 import frc.robot.commands.AngleShooter;
 import frc.robot.commands.AngleShooterShoot;
 import frc.robot.commands.DriveCommands;
-import frc.robot.commands.DriveToChain;
 import frc.robot.commands.PivotIntakeAuto;
 import frc.robot.commands.PivotIntakeTele;
 import frc.robot.commands.PositionNoteInFeeder;
@@ -571,7 +570,11 @@ private void testControls() {
 
     //     driveController.a().whileTrue(new TurnToSource(drive, driveController));
 
-    driveController.a().whileTrue(new DriveToChain(drive));
+    // driveController.a().whileTrue(new DriveToChain(drive));
+    driveController.a().onTrue(new InstantCommand(() -> shooter.setFlywheelRPMs(5000, 5000)));
+    driveController.a().onFalse(new InstantCommand(() -> shooter.stopFlywheels()));
+
+    driveController.x().onTrue(new SetPivotTarget(90, pivot));
     // manipController
     //     .a()
     //     .onTrue(

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

@@ -71,7 +71,7 @@ public TurnToAmpCorner(
   @Override
   public void initialize() {
     pivot.setPivotGoal(45);
-    shooter.setFlywheelRPMs(5000, 4600);
+    shooter.setFlywheelRPMs(5000, 4400);
   }
 
   // Called every time the scheduler runs while the command is scheduled.
@@ -145,7 +145,7 @@ public void execute() {
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    shooter.setFeedersRPM(500);
+    shooter.setFeedersRPM(3538);
   }
 
   // Returns true when the command should end.

src/main/java/frc/robot/subsystems/Shooter/Shooter.java

@@ -44,12 +44,12 @@ public Shooter(
       FlywheelIO flywheels, FeederIO feeder, DistanceSensorIO dist, LeafBlowerIO leafBlower) {
     switch (Constants.getMode()) {
       case REAL:
-        leftFlywheelFFModel = new SimpleMotorFeedforward(0, 0.25, 0); // make constant
-        rightFlywheelFFModel = new SimpleMotorFeedforward(0.18, 0.3);
+        leftFlywheelFFModel = new SimpleMotorFeedforward(0.23, 0.18, 0); // make constant
+        rightFlywheelFFModel = new SimpleMotorFeedforward(0.4, 0.5, 0.3);
 
         feederFFModel = new SimpleMotorFeedforward(0, 0, 0);
 
-        flywheelkP.initDefault(0.9312); // make constant
+        flywheelkP.initDefault(2.056); // make constant
         flywheelkI.initDefault(0);
         flywheelkD.initDefault(0);
 
@@ -67,7 +67,7 @@ public Shooter(
         leftFlywheelFFModel = new SimpleMotorFeedforward(0, 0.5);
         rightFlywheelFFModel = new SimpleMotorFeedforward(0.18, 0.3);
 
-        feederFFModel = new SimpleMotorFeedforward(0, 0.58);
+        feederFFModel = new SimpleMotorFeedforward(0, 0.5);
 
         flywheelkP.initDefault(0.4); // make constant
         flywheelkI.initDefault(0);
@@ -118,20 +118,32 @@ public void setFlywheelRPMs(double leftVelocityRPM, double rightVelocityRPM) {
   public void setFlywheelRPMSSource() {
     if (DriverStation.getAlliance().get() == Alliance.Blue) {
       flywheels.setVelocityRPS(
-          5000, 4200, leftFlywheelFFModel.calculate(5000 / 60.), leftFlywheelFFModel.calculate(4200 / 60.));
+          5000,
+          4200,
+          leftFlywheelFFModel.calculate(5000 / 60.),
+          leftFlywheelFFModel.calculate(4200 / 60.));
     } else {
       flywheels.setVelocityRPS(
-          4200, 5000, leftFlywheelFFModel.calculate(5000 / 60.), leftFlywheelFFModel.calculate(4200 / 60.));
+          4200,
+          5000,
+          leftFlywheelFFModel.calculate(5000 / 60.),
+          leftFlywheelFFModel.calculate(4200 / 60.));
     }
   }
 
   public void setFlywheelRPMSAmp() {
     if (DriverStation.getAlliance().get() == Alliance.Blue) {
       flywheels.setVelocityRPS(
-          4200, 5000, leftFlywheelFFModel.calculate(4200 / 60.), leftFlywheelFFModel.calculate(5000 / 60.));
+          4200,
+          5000,
+          leftFlywheelFFModel.calculate(4200 / 60.),
+          leftFlywheelFFModel.calculate(5000 / 60.));
     } else {
       flywheels.setVelocityRPS(
-          5000, 4200, leftFlywheelFFModel.calculate(5000 / 60.), leftFlywheelFFModel.calculate(4200 / 60.));
+          5000,
+          4200,
+          leftFlywheelFFModel.calculate(5000 / 60.),
+          leftFlywheelFFModel.calculate(4200 / 60.));
     }
   }