Merge branch 'stu_salem_practice' into adam_tweaks

.pathplanner/settings.json

@@ -16,4 +16,4 @@
   "defaultMaxAngVel": 540.0,
   "defaultMaxAngAccel": 720.0,
   "maxModuleSpeed": 2.25
-}
+}

src/main/java/frc/robot/Constants.java

@@ -63,7 +63,7 @@ public static final class FeederConstants {
     public static final int kFeederRight = 22;
     // Speed Controller Speeds
     public static final double kFeederSpeed = 1;
-    public static final int kFeederCurrentLimit = 20;
+    public static final int kFeederCurrentLimit = 40;
   }
 
   public static final class IncrementerConstants {
@@ -90,7 +90,7 @@ public static final class MastConstants {
     public static final int kMastRight = 41;
     // Speed Controller Speeds
     public static final double kMastSpeed = 1;
-    public static final int kMastCurrentLimit = 20;
+    public static final int kMastCurrentLimit = 30;
   }
 
   public static final class ClimberConstants {

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

@@ -222,8 +222,8 @@ private void configureButtonBindings() {
                 DriveCommands.joystickDrive(
                     drive,
                     () -> (MathUtil.applyDeadband(-driverPad.getLeftY(), .07)),
-                    () -> (MathUtil.applyDeadband(-driverPad.getLeftX() * .65, .07)),
-                    () -> (MathUtil.applyDeadband(-driverPad.getRightX() * .65, .07))));
+                    () -> (MathUtil.applyDeadband(-driverPad.getLeftX() * .75, .07)),
+                    () -> (MathUtil.applyDeadband(-driverPad.getRightX() * .75, .07))));
 
         // Intake Note and Load into Launcher
         /*

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

@@ -58,7 +58,7 @@ public Climber() {
     climber = new TalonFX(50);
 
     // configure motor(s)
-    climber.setInverted(true);
+    climber.setInverted(false);
 
     // Define what signals we need from the Talon(s)
     // BaseStatusSignal.setUpdateFrequencyForAll(

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

@@ -5,7 +5,6 @@
 import com.revrobotics.CANSparkLowLevel.MotorType;
 import com.revrobotics.CANSparkLowLevel.PeriodicFrame;
 import com.revrobotics.CANSparkMax;
-
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
@@ -118,7 +117,8 @@ public void periodic() {
 
     if (currentTask == Task.TRANSFER) {
       // If the Feeder Sensor is Intaking and finds the Note go IDLE
-      if (!RobotContainer.m_topFeederSensor.get() || RobotContainer.m_topIncrementerSensor.get()
+      if (!RobotContainer.m_topFeederSensor.get()
+          || RobotContainer.m_topIncrementerSensor.get()
           || DriverStation.isDisabled()) {
         currentTask = Task.IDLE;
         System.out.println("Note Transfered");

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

@@ -5,7 +5,6 @@
 import com.revrobotics.CANSparkLowLevel.MotorType;
 import com.revrobotics.CANSparkLowLevel.PeriodicFrame;
 import com.revrobotics.CANSparkMax;
-
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;

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

@@ -116,8 +116,9 @@ public void periodic() {
     setIntakeSpeed(currentTask.getSpeed());
 
     // If the FeederSensor or IncrementerSensor is on got back to idle.
-    if ((RobotContainer.m_topFeederSensor.get() || RobotContainer.m_topIncrementerSensor.get()
-        || DriverStation.isDisabled())
+    if ((RobotContainer.m_topFeederSensor.get()
+            || RobotContainer.m_topIncrementerSensor.get()
+            || DriverStation.isDisabled())
         && DriverStation.isTeleop()) {
       currentTask = Task.IDLE;
     }

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

@@ -27,11 +27,11 @@ public class Mast extends SubsystemBase {
   public enum Task {
     INTAKING("Intaking", 35.0),
     LAUNCHSUB("Launch Subwoofer", 40.0),
-    LAUCNHKEY("Launch Key", 60.5),
+    LAUCNHKEY("Launch Key", 64.5),
     LAUCNHPASS("Launch Pass", 61.0),
     LAUNCHAUTO("Launch Auto", 6.0),
     PUTAMP("PutAmp", -26.0), // tested
-    PUTTRAP("PutTrap", 7.0),
+    PUTTRAP("PutTrap", 2.5),
     CLEARJAM("Clear", 40.0),
     CLIMBING("Climbing", -7.0),
     TESTING("Testing", 0.0),
@@ -100,13 +100,13 @@ public Mast() {
     // rightEncAngle = 0.0;
     testingAngle = 0.0;
 
-    mastKp = 0.8;
-    mastKi = 0.002;
-    mastKd = 2.0;
-    double mastIWind = 100;
+    mastKp = 0.88;
+    mastKi = 0.00;
+    mastKd = 0.0;
+    double mastIWind = 150;
     mastFF = 0.0;
-    mastMaxPosOut = 0.3;
-    mastMaxNegOut = -0.3;
+    mastMaxPosOut = 0.45;
+    mastMaxNegOut = -0.45;
     mastSetpoint = 0.0;
 
     mastLeft = new CANSparkMax(kMastLeft, MotorType.kBrushless);
@@ -202,10 +202,11 @@ public void periodic() {
     leftEncAngle =
         (relmastLeftEncoder.getPosition() * 360 / gearRatio); // + mastStartingAngleOffset;
     // rightEncAngle =
-    //     (relmastRightEncoder.getPosition() * 360 / gearRatio); // + mastStartingAngleOffset;
+    // (relmastRightEncoder.getPosition() * 360 / gearRatio); // +
+    // mastStartingAngleOffset;
 
     // Remove backlash from Launcher by syncing constantly
-    if (counts == 50) {
+    if (counts == 40) {
       double ABStoRel = getAbsoluteEncoderDegrees() * 37.5 / 360;
       relmastLeftEncoder.setPosition(-ABStoRel);
       // relmastRightEncoder.setPosition(-ABStoRel);
@@ -224,7 +225,7 @@ public void periodic() {
     // Logger.recordOutput("Mast/Right_Enc", rightEncAngle);
     Logger.recordOutput("Mast/Abs_Enc", getAbsoluteEncoderDegrees());
     Logger.recordOutput("Mast/LeftMotorOutput", mastLeft.get());
-    // Logger.recordOutput("Mast/RightMotorOutput", mastRight.get());
+    Logger.recordOutput("Mast/Target", currentTask.getAngle());
     Logger.recordOutput("Mast/Current_Tsk", currentTask.getTaskName());
   }