after drive prac

team4909 · Feb 4, 2024 · 00fe13d · 00fe13d
1 parent 7cdfd19
commit 00fe13d
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Showing 4 changed files with 14 additions and 13 deletions.
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
@@ -149,11 +149,13 @@ public Robot() {
     // }));
 
     // ____________________driverController_______________________\\
-    m_driverController.rightTrigger().onTrue(m_shooter.Feeder());
+    m_driverController
+        .rightTrigger()
+        .onTrue(new ParallelRaceGroup(m_intake.intake(), m_shooter.Feeder()));
 
     m_driverController
         .rightBumper()
-        .whileTrue(new ParallelRaceGroup(m_intake.Spit(), m_shooter.Feeder()));
+        .whileTrue(new ParallelRaceGroup(m_intake.Spit(), m_shooter.FeederOut()));
 
     m_driverController.button(7).onTrue(m_drivetrain.zeroGyro());
 

diff --git a/src/main/java/frc/robot/drivetrain/Drivetrain.java b/src/main/java/frc/robot/drivetrain/Drivetrain.java
@@ -44,7 +44,7 @@ public class Drivetrain extends SubsystemBase {
       Math.hypot(kTrackwidthMeters / 2.0, kWheelbaseMeters / 2.0);
   private final double kMaxLinearSpeedMetersPerSecond = Units.feetToMeters(16.5);
   private final double kMaxAngularSpeedRadPerSec = 2 * Math.PI;
-  private final double kDeadband = 0.05;
+  private final double kDeadband = 0.07;
   private final boolean kUseVisionCorrection = true;
 
   public static final Lock odometryLock = new ReentrantLock();

diff --git a/src/main/java/frc/robot/drivetrain/ModuleIOTalonFX.java b/src/main/java/frc/robot/drivetrain/ModuleIOTalonFX.java
@@ -32,7 +32,7 @@ public class ModuleIOTalonFX implements ModuleIO {
   private final double kDrivekV = 0.1;
   private final double kSteerkP = 100.0;
   private final double kSteerkD = 0.2;
-  private final double kSlipCurrent = 400.0;
+  private final double kSlipCurrent = 80;
   private final String kCanBusName = "CANivore1";
 
   private final TalonFX m_driveMotor, m_steerMotor;

diff --git a/src/main/java/frc/robot/shooter/Shooter.java b/src/main/java/frc/robot/shooter/Shooter.java
@@ -45,8 +45,6 @@ public void periodic() {}
   public Command Shoot() {
     return new InstantCommand(
             () -> {
-              SmartDashboard.putNumber("ShooterSpeed", OutSpeed);
-
               shooterTop.set(OutSpeed);
               shooterBottom.set(OutSpeed);
             },
@@ -56,14 +54,15 @@ public Command Shoot() {
 
   public Command Stop() {
     return new InstantCommand(
-        () -> {
-          SmartDashboard.putNumber("ShooterSpeed", StopSpeed);
+            () -> {
+              SmartDashboard.putNumber("ShooterSpeed", StopSpeed);
 
-          shooterTop.set(StopSpeed);
-          shooterBottom.set(StopSpeed);
-          feeder.set(StopSpeed);
-        },
-        this);
+              shooterTop.set(StopSpeed);
+              shooterBottom.set(StopSpeed);
+              feeder.set(StopSpeed);
+            },
+            this)
+        .repeatedly();
   }
 
   public Command Intake() {