Final changes from testing

redshiftrobotics · Mar 3, 2024 · b0eb1a8 · b0eb1a8
1 parent 1045c75
commit b0eb1a8
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Showing 4 changed files with 13 additions and 17 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -148,18 +148,18 @@ public static class IntakeShooterConstants {
 
 		public static final boolean HAS_INTAKE;
 
-		public static final boolean INTAKE_REVERSE = true;
+		public static final boolean INTAKE_REVERSE = false;
 
 		public static final int FLYWHEEL_MOTOR_LEFT_ID = 13;
 		public static final int FLYWHEEL_MOTOR_RIGHT_ID = 7;
 		public static final int INTAKE_MOTOR_LEFT_ID = 12;
 		public static final int INTAKE_MOTOR_RIGHT_ID = -1;
 
-		public static final double FLYWHEEL_SPEED_AMP = .2;
-		public static final double FLYWHEEL_SPEED_SPEAKER = .5;
+		public static final double FLYWHEEL_SPEED_AMP = .5;
+		public static final double FLYWHEEL_SPEED_SPEAKER = 1;
 
-		public static final double WHEEL_SPEED_AMP = .2;
-		public static final double WHEEL_SPEED_SPEAKER = .5;
+		public static final double WHEEL_SPEED_AMP = 1;
+		public static final double WHEEL_SPEED_SPEAKER = 1;
 	}
 
 	public static class RobotMovementConstants {

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -7,11 +7,9 @@
 import frc.robot.Constants.SwerveDrivetrainConstants;
 import frc.robot.Constants.SwerveModuleConstants;
 import frc.robot.Constants.ArmConstants;
-import frc.robot.Constants.AutoConstants;
 import frc.robot.commands.Autos;
 import frc.robot.commands.CancelCommands;
 import frc.robot.commands.ChassisRemoteControl;
-import frc.robot.commands.FollowTag;
 import frc.robot.commands.AimAtTag;
 import frc.robot.commands.ArmRotateBy;
 import frc.robot.commands.ArmRotateTo;
@@ -204,7 +202,9 @@ public void setUpDriveController() {
 			xbox.b().onTrue(cancelCommand);
 
 			xbox.a().whileTrue(new AimAtTag(drivetrain, vision, 1, inputs));
-			xbox.x().whileTrue(new FollowTag(drivetrain, vision, 1, AutoConstants.PREFERRED_TAG_DISTANCE));
+			xbox.x().onTrue(Autos.dropInAmp(arm, intakeShooter));
+			// xbox.x().whileTrue(new FollowTag(drivetrain, vision, 1,
+			// AutoConstants.PREFERRED_TAG_DISTANCE));
 
 			drivetrain.setDefaultCommand(new ChassisRemoteControl(drivetrain, inputs));
 		}

diff --git a/src/main/java/frc/robot/commands/Autos.java b/src/main/java/frc/robot/commands/Autos.java
@@ -64,7 +64,7 @@ public static Command dropInSpeaker(Arm arm, IntakeShooter shooter) {
 				new SpinIntakeFlywheels(shooter, Constants.IntakeShooterConstants.FLYWHEEL_SPEED_SPEAKER),
 				new WaitCommand(1),
 				new SpinIntakeWheels(shooter, Constants.IntakeShooterConstants.WHEEL_SPEED_SPEAKER),
-				new WaitCommand(1),
+				new WaitCommand(0.25),
 				new SpinIntakeFlywheels(shooter, 0),
 				new SpinIntakeWheels(shooter, 0));
 	}

diff --git a/src/main/java/frc/robot/subsystems/intake/RealShooter.java b/src/main/java/frc/robot/subsystems/intake/RealShooter.java
@@ -27,19 +27,15 @@ public class RealShooter extends IntakeShooter {
 	private final WPI_VictorSPX flywheel1;
 	private final WPI_VictorSPX flywheel2;
 
-	private final CANSparkMax intake1;
+	private final CANSparkMax intake;
 	// private final CANSparkMax intake2; // might not exist
 
 	public RealShooter(int flywheel1id, int flywheel2id, int intake1id, int intake2id) {
 		this.flywheel1 = new WPI_VictorSPX(flywheel1id);
 		this.flywheel2 = new WPI_VictorSPX(flywheel2id);
 
-		this.intake1 = new CANSparkMax(intake1id, CANSparkLowLevel.MotorType.kBrushless);
-		// this.intake2 = new CANSparkMax(intake2id,
-		// CANSparkLowLevel.MotorType.kBrushless);
-
-		intake1.setInverted(IntakeShooterConstants.INTAKE_REVERSE);
-		// intake2.setInverted(IntakeShooterConstants.INTAKE_REVERSE);
+		this.intake = new CANSparkMax(intake1id, CANSparkLowLevel.MotorType.kBrushless);
+		intake.setInverted(IntakeShooterConstants.INTAKE_REVERSE);
 	}
 
 	public void setFlyWheelSpeed(double speed) {
@@ -60,7 +56,7 @@ public void reverseFlywheel() {
 	}
 
 	public void setIntakeSpeed(double speed) {
-		intake1.set(speed);
+		intake.set(speed);
 		// intake2.set(speed);
 	}