numbies

diff --git a/src/main/java/frc/robot/commands/gpm/Superstructure.java b/src/main/java/frc/robot/commands/gpm/Superstructure.java
index 91506fd65ce46da2d69c5a7d080ea74bd01260e7..5c483485d4602bb4911bd4ab8060cf3214b0dde2 100644 (file)
--- a/src/main/java/frc/robot/commands/gpm/Superstructure.java
+++ b/src/main/java/frc/robot/commands/gpm/Superstructure.java
@@ -245,6 +245,8 @@ public class Superstructure extends Command {
         Logger.recordOutput("Turret Calculated Setpoint", turretSetpoint);
         Logger.recordOutput("Hood Calculate Setpoint", hoodSetpoint);
         Logger.recordOutput("Shooter Calculate Velocity", goalState.exitVel());
+        
+        Logger.recordOutput("DistanceToTarget", target.getDistance(drivepose.getTranslation()));
 
         SmartDashboard.putString("Phase Manager State", phaseManager.getCurrentState().toString());
     }

diff --git a/src/main/java/frc/robot/constants/ShotInterpolation.java b/src/main/java/frc/robot/constants/ShotInterpolation.java
index a132a67f23c0624461dafd3691070f0acddbbd11..2d35d81f6073d9df3e7d37ce65cc8c1fb12d929c 100644 (file)
--- a/src/main/java/frc/robot/constants/ShotInterpolation.java
+++ b/src/main/java/frc/robot/constants/ShotInterpolation.java
@@ -43,6 +43,7 @@ public class ShotInterpolation {
         exitVelocityMap.put(11.0, 26.0);
         exitVelocityMap.put(25.0, 25.0* 3.2);
 
+        shooterVelocityMap.put(1.00, 11.5);
         shooterVelocityMap.put(1.49, 11.5);
         shooterVelocityMap.put(2.09, 12.5);
         shooterVelocityMap.put(2.95, 13.5);
@@ -53,6 +54,7 @@ public class ShotInterpolation {
         shooterVelocityMap.put(0.0, 9.55);
         shooterVelocityMap.put(25.0, 43.44);
 
+        newHoodMap.put(1.00, 78.0);
         newHoodMap.put(1.49, 72.0);
         newHoodMap.put(2.09, 70.0);
         newHoodMap.put(2.95, 68.0);

diff --git a/src/main/java/frc/robot/subsystems/hood/Hood.java b/src/main/java/frc/robot/subsystems/hood/Hood.java
index dbaa39751f2a5902d3e9161974e039dba089ea6f..19591391cd0804fb1618d25a1217ac011889cb1c 100644 (file)
--- a/src/main/java/frc/robot/subsystems/hood/Hood.java
+++ b/src/main/java/frc/robot/subsystems/hood/Hood.java
@@ -36,7 +36,7 @@ public class Hood extends SubsystemBase implements HoodIO {
        private boolean calibrating = false;
        private Debouncer calibrateDebouncer = new Debouncer(0.5, DebounceType.kRising);
 
-       private boolean forceHoodDown = true;
+       private boolean forceHoodDown = false;
 
     private HoodIOInputsAutoLogged inputs = new HoodIOInputsAutoLogged();
 

diff --git a/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
index 7b8ff5e41f60ce1214e22ba32ff8fb30e643c915..b8c0208e62db0efc070b34580746a4b48d4db139 100644 (file)
--- a/src/main/java/frc/robot/subsystems/shooter/Shooter.java
+++ b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
@@ -72,6 +72,7 @@ public class Shooter extends SubsystemBase implements ShooterIO {
         shooterMotorLeft.setControl(voltageRequest.withVelocity(targetVelocityRPS));
         shooterMotorRight.setControl(voltageRequest.withVelocity(targetVelocityRPS));   
         
+        Logger.recordOutput("Shooter/realVelocity", shooterMotorLeft.getVelocity().getValueAsDouble() * ShooterConstants.SHOOTER_LAUNCH_DIAMETER);
         Logger.recordOutput("Shooter/targetVelocity", shooterTargetSpeed);
     }
 

diff --git a/src/main/java/frc/robot/subsystems/turret/TurretConstants.java b/src/main/java/frc/robot/subsystems/turret/TurretConstants.java
index 8b0d7df8f9c73a62d2c4aae035de3a56aff44988..33200edf3125070b10d465d2e6a6370531543d59 100644 (file)
--- a/src/main/java/frc/robot/subsystems/turret/TurretConstants.java
+++ b/src/main/java/frc/robot/subsystems/turret/TurretConstants.java
@@ -35,7 +35,7 @@ public class TurretConstants {
 
        public static final double FEEDFORWARD_KV = 0.185;
 
-    public static final double NORMAL_CURRENT_LIMIT = 30.0; // A
+    public static final double NORMAL_CURRENT_LIMIT = 40.0; // A
     public static final double CALIBRATION_CURRENT_LIMIT = 10.0; // A
     public static final double CALIBRATION_CURRENT_THRESHOLD = 9.0; // A