tuned points & force limelight check

Valor6800 · Mar 4, 2022 · c02d778 · c02d778
1 parent cd43477
commit c02d778
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Showing 2 changed files with 24 additions and 4 deletions.
diff --git a/Competition/src/main/cpp/ValorAuto.cpp b/Competition/src/main/cpp/ValorAuto.cpp
@@ -380,6 +380,7 @@ ValorAuto::ValorAuto(Drivetrain *_drivetrain, Shooter *_shooter, Feeder *_feeder
     frc2::SequentialCommandGroup *shoot5Blue = new frc2::SequentialCommandGroup();
     shoot5Blue->AddCommands
     (cmd_set_odometry,
+    cmd_turretDisable,
     cmd_shooterPrime,
     cmd_intakeOne,
     cmd_move_moveBugsBlue,
@@ -414,6 +415,7 @@ ValorAuto::ValorAuto(Drivetrain *_drivetrain, Shooter *_shooter, Feeder *_feeder
     (cmd_set_odometry,
     cmd_shooterPrime,
     cmd_intakeOne,
+    cmd_turretDisable,
     cmd_move_moveBugsRed,
     cmd_move_movePreDaffyRed,
     cmd_turretTrack,
@@ -442,11 +444,28 @@ ValorAuto::ValorAuto(Drivetrain *_drivetrain, Shooter *_shooter, Feeder *_feeder
 
     );
 
+    frc2::SequentialCommandGroup *shooterTest = new frc2::SequentialCommandGroup();
+    shooterTest->AddCommands
+    (cmd_set_odometry,
+    cmd_shooterPrime,
+    cmd_intakeOne,
+    cmd_turretTrack,
+    frc2::WaitCommand((units::second_t)3),
+    cmd_intakeShoot,
+    frc2::WaitCommand((units::second_t)1.0),
+    cmd_intakeOne
+    );
+
+
+
    //right now shoot 5 auto is shoot 3, need to make a red and blue auto
     m_chooser.AddOption("RED 3 ball auto", shoot3Red);
     m_chooser.AddOption("RED 5 ball auto", shoot5Red);
     m_chooser.AddOption("BLUE 3 ball auto", shoot3Blue);
     m_chooser.AddOption("BLUE 5 ball auto", shoot5Blue);
+
+    m_chooser.AddOption("SHOOTER TEST", shooterTest);
+
 
     frc::SmartDashboard::PutData(&m_chooser);
 

diff --git a/Competition/src/main/include/Constants.h b/Competition/src/main/include/Constants.h
@@ -58,15 +58,15 @@ namespace DriveConstants {
     constexpr static double TURN_KP = 3.8 * M_PI / 180.0;
     constexpr static double LIMELIGHT_KP = .02;
 
-    constexpr static double KPX = .75; //.2
+    constexpr static double KPX = .5; //.75
     constexpr static double KIX = 0.0; //0
     constexpr static double KDX = 0.0; //.1
 
-    constexpr static double KPY = .75; //.2
+    constexpr static double KPY = .5; //.75
     constexpr static double KIY = 0.0; //0
     constexpr static double KDY = 0.0; //.1
 
-    constexpr static double KPT = 2.5; //.2
+    constexpr static double KPT = 2; //2.5
     constexpr static double KIT = 0.0; //0
     constexpr static double KDT = 0.0; //.1
 }
@@ -83,7 +83,7 @@ namespace SwerveConstants {
     constexpr static double DRIVE_GEAR_RATIO = 1.0 / 5.12; // 1/8.14
     constexpr static double AZIMUTH_GEAR_RATIO = (15.0 / 32.0) * (10.0 / 60.0); // 0.078125
 
-    constexpr static double WHEEL_DIAMETER_M = 0.1016;
+    constexpr static double WHEEL_DIAMETER_M = .091; // original number with blue tread 0.1016;
     constexpr static double WHEEL_CIRCUMFERENCE_M = WHEEL_DIAMETER_M * M_PI;
 
     constexpr static double MOTOR_FREE_SPEED = 6380.0;
@@ -140,6 +140,7 @@ namespace ShooterConstants{
     constexpr static double flywheelAutoValue = 0.47;
     constexpr static double flywheelDefaultValue = 0.345;
 
+
     constexpr static double turretKP = 1e-5;
     constexpr static double turretKI = 0;
     constexpr static double turretKD = 0;