intake testing 10:23

team4909 · Feb 3, 2024 · c8eb9d2 · c8eb9d2
1 parent fe3c01f
commit c8eb9d2
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Showing 3 changed files with 21 additions and 23 deletions.
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
@@ -9,7 +9,6 @@
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
 import edu.wpi.first.wpilibj2.command.ParallelRaceGroup;
 import edu.wpi.first.wpilibj2.command.RepeatCommand;
-import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
 import frc.robot.drivetrain.Drivetrain;
@@ -108,7 +107,7 @@ public Robot() {
     m_driverController.rightTrigger().whileTrue(m_shooter.ShooterDelay());
 
     // m_driverController.leftTrigger().whileTrue(new RepeatCommand(m_shooter.Intake()));
-    m_driverController.leftTrigger().whileTrue(m_intake.intake());
+    // m_driverController.leftTrigger().whileTrue(m_intake.intake());
     // m_driverController.y().whileTrue(m_intake.Spit());
     m_driverController.b().whileTrue(m_intake.Stop());
     final double defaultStopDistance = 16;
@@ -117,27 +116,27 @@ public Robot() {
     m_driverController.b().onTrue(m_shooter.Stop());
     SmartDashboard.putNumber("StopDistance", defaultStopDistance);
 
-    m_driverController
-        .povUp()
-        .onTrue(
-            new SequentialCommandGroup(m_intake.intake(), m_shooter.Intake())
-                .until(
-                    () -> {
-                      return mytimeofflight.getRange()
-                          <= SmartDashboard.getNumber("StopDistance", defaultStopDistance);
-                    }));
-
     // m_driverController
-    //     .leftTrigger()
-    //     .whileTrue(new SequentialCommandGroup(m_intake.intake(), m_shooter.Intake()).repeatedly());
+    //     .povUp()
+    //     .onTrue(
+    //         new SequentialCommandGroup(m_intake.intake(), m_shooter.Intake())
+    //             .until(
+    //                 () -> {
+    //                   return mytimeofflight.getRange()
+    //                       <= SmartDashboard.getNumber("StopDistance", defaultStopDistance);
+    //                 }));
+
+    m_driverController
+        .leftTrigger()
+        .whileTrue(new ParallelRaceGroup(m_intake.intake(), m_shooter.Intake()).repeatedly());
 
     //     m_driverController
     //     .leftTrigger()
     //     .whileTrue(new SequentialCommandGroup(
-    //     m_intake.intake(), 
+    //     m_intake.intake(),
     //     m_shooter.Intake()).repeatedly()
     //     .until(
-          
+
     //     ));
 
   }

diff --git a/src/main/java/frc/robot/intake/Intake.java b/src/main/java/frc/robot/intake/Intake.java
@@ -14,10 +14,10 @@
 public class Intake extends SubsystemBase {
   // private final double Speed = 1;
   private final double StopSpeed = 0;
-  private double defaultFrontRollerSpeed = -.75;
-  private double defaultBackRollerSpeed = -.75;
-  private double defaultFrontRollerSpeedSpit = .65;
-  private double defaultBackRollerSpeedSpit = .65;
+  private double defaultFrontRollerSpeed = -.4;
+  private double defaultBackRollerSpeed = -.4;
+  private double defaultFrontRollerSpeedSpit = .5;
+  private double defaultBackRollerSpeedSpit = .5;
 
   private CANSparkMax topRoller = new CANSparkMax(5, CANSparkMax.MotorType.kBrushless);
   private CANSparkMax bottomRoller = new CANSparkMax(6, CANSparkMax.MotorType.kBrushless);

diff --git a/src/main/java/frc/robot/shooter/Shooter.java b/src/main/java/frc/robot/shooter/Shooter.java
@@ -16,7 +16,7 @@
 
 public class Shooter extends SubsystemBase {
 
-  private final double InSpeed = -.25;
+  private final double InSpeed = -.4;
   private final double OutSpeed = .25;
   private final double StopSpeed = 0;
   private double defaultDelay = .3;
@@ -67,7 +67,7 @@ public Command Intake() {
           System.out.println("InSpeed");
           SmartDashboard.putNumber("ShooterSpeed", InSpeed);
 
-          feeder.set(OutSpeed);
+          feeder.set(InSpeed);
         },
         this);
   }
@@ -95,7 +95,6 @@ public Command Feeder() {
             },
             this)
         .repeatedly();
-
   }
 
   // public Command getCurrent(){