I may have messed up and thought the kicker motor was the intake moto…

…r-oops- code untested but hopefully updated to fit robot motors
team401 · Oct 9, 2024 · 67f8485 · 67f8485
1 parent 45de4f2
commit 67f8485
Show file tree

Hide file tree

Showing 7 changed files with 9 additions and 21 deletions.
diff --git a/src/main/java/frc/robot/BuildConstants.java b/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 = "high-key-2024-2";
     public static final String VERSION = "unspecified";
-    public static final int GIT_REVISION = 19;
-    public static final String GIT_SHA = "c442c6bc9794075a9baecaad06937038df0adbea";
-    public static final String GIT_DATE = "2024-09-30 19:19:20 EDT";
+    public static final int GIT_REVISION = 20;
+    public static final String GIT_SHA = "60857c99f27fe0d7e277b51b2878d3550123a1a8";
+    public static final String GIT_DATE = "2024-10-02 18:10:46 EDT";
     public static final String GIT_BRANCH = "shooter-hardware";
-    public static final String BUILD_DATE = "2024-09-30 19:41:00 EDT";
-    public static final long BUILD_UNIX_TIME = 1727739660411L;
+    public static final String BUILD_DATE = "2024-10-02 18:25:06 EDT";
+    public static final long BUILD_UNIX_TIME = 1727907906440L;
     public static final int DIRTY = 1;
 
     private BuildConstants() {}

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -281,8 +281,8 @@ private void configureBindings() {
 
             masher.povUp();
         }
-        if (FeatureFlags.runDrive && Robot.isReal()
-                || FeatureFlags.simulateDrive && !Robot.isReal()) {
+        if ((FeatureFlags.runDrive && Robot.isReal())
+                || (FeatureFlags.simulateDrive && !Robot.isReal())) {
             masher.povUp()
                     .onTrue(new InstantCommand(() -> drive.setAlignTarget(AlignTarget.SPEAKER)));
 

diff --git a/src/main/java/frc/robot/constants/Constants.java b/src/main/java/frc/robot/constants/Constants.java
@@ -47,11 +47,4 @@ public static final class ConversionConstants {
         public static final double kDegreesToRadians = Math.PI / 180.0;
         public static final double kRadiansToDegrees = 180.0 / Math.PI;
     }
-
-    public static final class SensorConstants {
-
-        // TODO: Find real values
-        public static final int indexerSensorPort = 0;
-        public static final int uptakeSensorPort = 0;
-    }
 }
diff --git a/src/main/java/frc/robot/constants/ScoringConstants.java b/src/main/java/frc/robot/constants/ScoringConstants.java
@@ -45,7 +45,7 @@ public class ScoringConstants {
     public static final int shooterLeftMotorId = 10;
     public static final int shooterRightMotorId = 11;
 
-    public static final int kickerMotorId = 13;
+    public static final int kickerMotorId = 1;
 
     public static final double shooterCurrentLimit = 120;
     public static final double kickerCurrentLimit = 120;

diff --git a/src/main/java/frc/robot/constants/SensorConstants.java b/src/main/java/frc/robot/constants/SensorConstants.java
@@ -3,5 +3,4 @@
 public final class SensorConstants {
     // TODO: Find real values
     public static final int indexerSensorPort = 0;
-    public static final int uptakeSensorPort = 0;
 }
diff --git a/src/main/java/frc/robot/subsystems/intake/IntakeNEOVortex.java b/src/main/java/frc/robot/subsystems/intake/IntakeNEOVortex.java
@@ -14,13 +14,9 @@
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.motorcontrol.Spark;
 import com.revrobotics.CANSparkFlex;
-import com.revrobotics.CANSparkMax;
 import com.revrobotics.SparkLimitSwitch;
-import com.revrobotics.CANDigitalInput.LimitSwitchPolarity;
 import com.revrobotics.CANSparkLowLevel.MotorType;
-import com.revrobotics.SparkLimitSwitch.Type;
 
-import edu.wpi.first.wpilibj.DigitalInput;
 import frc.robot.constants.IntakeConstants;
 import frc.robot.constants.SensorConstants;
 import frc.robot.constants.IntakeConstants;

diff --git a/src/main/java/frc/robot/subsystems/scoring/ScoringSubsystem.java b/src/main/java/frc/robot/subsystems/scoring/ScoringSubsystem.java
@@ -304,7 +304,7 @@ private void shoot() {
         double aimAngleRad = aimerInterpolated.getValue(distancetoGoal);
         aimerIo.setAimAngleRad(aimAngleRad, false);
 
-        shooterIo.setKickerVolts(10);
+        shooterIo.setKickerVolts(12);
 
         if (shootTimer.get() > 0.5) { // TODO: Tune time
             state = ScoringState.PRIME;