changes

diff --git a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
index 1a8b8e0cad80b2afe16ce5dc9d20524b10b1c39a..e770a5c049606376834bb2df29b96c260b29a35f 100644 (file)
--- a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
+++ b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
@@ -12,6 +12,7 @@ import edu.wpi.first.wpilibj2.command.CommandScheduler;
 import edu.wpi.first.wpilibj2.command.FunctionalCommand;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
+import edu.wpi.first.wpilibj2.command.WaitCommand;
 import frc.robot.Robot;
 import frc.robot.commands.gpm.TurretAutoShoot;
 import frc.robot.constants.Constants;
@@ -66,10 +67,12 @@ public class PS5ControllerDriverConfig extends BaseDriverConfig {
             ()->false, getDrivetrain()).withTimeout(2));
 
         driver.get(PS5Button.LB).onTrue(
-            new InstantCommand(() -> {
-                shooter.setFeeder(ShooterConstants.FEEDER_RUN_POWER);
-                shooter.setShooter(ShooterConstants.SHOOTER_VELOCITY);
-            })).onFalse(
+            new SequentialCommandGroup(
+                new InstantCommand(()-> shooter.setShooter(ShooterConstants.SHOOTER_VELOCITY)),
+                new WaitCommand(0.8),
+                new InstantCommand(()-> shooter.setFeeder(ShooterConstants.FEEDER_RUN_POWER))
+            )
+            ).onFalse(
                 new InstantCommand(() -> {
                         shooter.setFeeder(0);
                         shooter.setShooter(0);

diff --git a/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
index 1b5919ef992f00ee13e9545c544c1226c8731547..5e9e2cf56bc3fb6d2ccb8abe023598c1c2bfee5b 100644 (file)
--- a/src/main/java/frc/robot/subsystems/shooter/Shooter.java
+++ b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
@@ -9,21 +9,9 @@ import com.ctre.phoenix6.controls.VelocityVoltage;
 import com.ctre.phoenix6.hardware.TalonFX;
 import com.ctre.phoenix6.signals.InvertedValue;
 import com.ctre.phoenix6.signals.NeutralModeValue;
-
-import au.grapplerobotics.ConfigurationFailedException;
-import au.grapplerobotics.LaserCan;
-import au.grapplerobotics.interfaces.LaserCanInterface.Measurement;
-import au.grapplerobotics.interfaces.LaserCanInterface.RangingMode;
-import au.grapplerobotics.interfaces.LaserCanInterface.RegionOfInterest;
-import au.grapplerobotics.interfaces.LaserCanInterface.TimingBudget;
-import edu.wpi.first.math.util.Units;
-import edu.wpi.first.units.Measure;
-import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
-import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
-import edu.wpi.first.wpilibj2.command.WaitCommand;
-import edu.wpi.first.wpilibj2.command.WaitUntilCommand;
+
 import frc.robot.constants.Constants;
 import frc.robot.constants.IdConstants;
 
@@ -44,7 +32,7 @@ public class Shooter  {
 
     public Shooter(){
         TalonFXConfiguration config = new TalonFXConfiguration();
-        config.Slot0.kP = 0.1; //tune p value
+        config.Slot0.kP = 0.2; //tune p value
         config.Slot0.kI = 0;
         config.Slot0.kD = 0;
         config.Slot0.kV = 0.12; //Maximum rps = 100 --> 12V/100rps