updating offsets

also some other things

Co-Authored-By: Timofei <108955303+iefomit@users.noreply.github.com>

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 895a1e9a51669ce1c1b491023365f1e8249d5309..0c8dc64f6fd2b5e14cfd0336c7ce88752eb1a5e8 100644 (file)
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -105,6 +105,9 @@ public class RobotContainer {
 
       default:
 
+      case TwinBot:
+
+
       case PrimeJr: // AKA Valence
         spindexer = new Spindexer();
         intake = new Intake();
@@ -116,8 +119,6 @@ public class RobotContainer {
         shooter = new Shooter();
         hood = new Hood();
       
-      case TwinBot:
-
       case SwerveCompetition: // AKA "Vantage"
 
       case BetaBot: // AKA "Pancake"

diff --git a/src/main/java/frc/robot/commands/Music.java b/src/main/java/frc/robot/commands/Music.java
index cd89318d17a63ea254a6186c65029df105ed147e..af0c16d69ca4e36636b61db73d977e54c2b49195 100644 (file)
--- a/src/main/java/frc/robot/commands/Music.java
+++ b/src/main/java/frc/robot/commands/Music.java
@@ -11,8 +11,10 @@ public class Music extends Command {
 
     public Music(TalonFX[] motors) {
         orchestra = new Orchestra(Filesystem.getDeployDirectory() + "/chirp/file.chrp");
-        for (TalonFX motor : motors)
+        for (TalonFX motor : motors) {
+            System.out.println(motor.getDescription());
             orchestra.addInstrument(motor);
+        }
     }
 
     @Override

diff --git a/src/main/java/frc/robot/constants/swerve/DriveConstants.java b/src/main/java/frc/robot/constants/swerve/DriveConstants.java
index 248e26a951e866588ee5385c2940c585cfc38df5..ad14e7fa7cd709684a45b735e1adaf29e4aa4c48 100644 (file)
--- a/src/main/java/frc/robot/constants/swerve/DriveConstants.java
+++ b/src/main/java/frc/robot/constants/swerve/DriveConstants.java
@@ -226,11 +226,11 @@ public class DriveConstants {
 
                 MODULE_CONSTANTS = COTSFalconSwerveConstants.SDSMK5n(DRIVE_GEAR_RATIO);
 
-            } else if(robotId == RobotId.WaffleHouse){
-                STEER_OFFSET_FRONT_LEFT = 300.058594 - 350 + 180;
-                STEER_OFFSET_FRONT_RIGHT = 65.654297 + 180;
-                STEER_OFFSET_BACK_LEFT = 38.232422 + 180 + 180;
-                STEER_OFFSET_BACK_RIGHT = 116.279297 + 180;
+            } else if(robotId == RobotId.TwinBot){
+                STEER_OFFSET_FRONT_LEFT = 301.201172 - 350 + 180;
+                STEER_OFFSET_FRONT_RIGHT = 67.324219 + 180;
+                STEER_OFFSET_BACK_LEFT = 39.814463 + 180 + 180;
+                STEER_OFFSET_BACK_RIGHT = 294.873047;
                 
                 // MK5n gear ratio 
                 INVERT_STEER_MOTOR = InvertedValue.CounterClockwise_Positive;

diff --git a/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java b/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java
index 7eb445926f7b7bd6b5aec1da3c954e4c729b639c..62609204bf57f7eef1169c0a2cdccc7c662a9911 100644 (file)
--- a/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java
+++ b/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java
@@ -53,6 +53,8 @@ public class Spindexer extends SubsystemBase implements SpindexerIO {
         CUSTOM,
     }
 
+    private SpindexerState pastState = SpindexerState.STOPPED;
+
     @Override
     public void periodic() {
         updateInputs();
@@ -68,10 +70,12 @@ public class Spindexer extends SubsystemBase implements SpindexerIO {
             setMotorVoltages(power);
         }
 
-        if (state == SpindexerState.REVERSE) {
-            setNewCurrentLimit(SpindexerConstants.SUPPLY_CURRENT_LIMIT, SpindexerConstants.CURRENT_REVERSE_STATOR_LIMIT);
-        } else {
-            setNewCurrentLimit(SpindexerConstants.SUPPLY_CURRENT_LIMIT, SpindexerConstants.CURRENT_FORWARD_STATOR_LIMIT);
+        if (state != pastState) {
+            if (state == SpindexerState.REVERSE) {
+                setNewCurrentLimit(SpindexerConstants.SUPPLY_CURRENT_LIMIT, SpindexerConstants.CURRENT_REVERSE_STATOR_LIMIT);
+            } else {
+                setNewCurrentLimit(SpindexerConstants.SUPPLY_CURRENT_LIMIT, SpindexerConstants.CURRENT_FORWARD_STATOR_LIMIT);
+            }
         }
 
         if (!Constants.DISABLE_SMART_DASHBOARD) {