turret enable

diff --git a/src/main/java/frc/robot/subsystems/Intake/Intake.java b/src/main/java/frc/robot/subsystems/Intake/Intake.java
index 35ae9121ccc09a33df0eb666aacb51095a99da31..c0d736452331db199f6a22f4bfd68b4da9e2cb07 100644 (file)
--- a/src/main/java/frc/robot/subsystems/Intake/Intake.java
+++ b/src/main/java/frc/robot/subsystems/Intake/Intake.java
@@ -202,6 +202,8 @@ public class Intake extends SubsystemBase implements IntakeIO{
 
         SmartDashboard.putBoolean("Intake Calibrated", !calibrating);
         SmartDashboard.putBoolean("Intake At Setpoint", Math.abs(inchExtension - setpointInches) < 0.5);
+        SmartDashboard.putData("Extend Intake", new InstantCommand(() -> extend()));
+        SmartDashboard.putData("Retract Intake", new InstantCommand(() -> retract()));
     }
 
     public void simulationPeriodic(){

diff --git a/src/main/java/frc/robot/subsystems/turret/Turret.java b/src/main/java/frc/robot/subsystems/turret/Turret.java
index 64177daeb3626d8915bcc8690c66cad977b7e2de..d268956492a2f75019427387f0080566472ad142 100644 (file)
--- a/src/main/java/frc/robot/subsystems/turret/Turret.java
+++ b/src/main/java/frc/robot/subsystems/turret/Turret.java
@@ -105,6 +105,7 @@ public class Turret extends SubsystemBase implements TurretIO{
                SmartDashboard.putData("Turret Mech", mech);
                SmartDashboard.putData("Start turret calibration", new InstantCommand(()-> calibrate()));
                SmartDashboard.putData("Stop turret calibration", new InstantCommand(()-> stopCalibrating()));
+               SmartDashboard.putData("Reset Turret Position to Zero", new InstantCommand(() -> resetTurretPosition()));
 
                SendableChooser<InstantCommand> turretTestChooser = new SendableChooser<>();
                turretTestChooser.setDefaultOption("Turn to 0", new InstantCommand(()-> setFieldRelativeTarget(Rotation2d.fromDegrees(0), 0.0)));
@@ -130,6 +131,10 @@ public class Turret extends SubsystemBase implements TurretIO{
                goalVelocityRadPerSec = velocityRadPerSec;
        }
 
+       public void resetTurretPosition() {
+               inputs.positionDeg = 0.0;
+       }
+
        /**
         * @return If the turret is at setpoint with tolerance of 10 degrees
         */
@@ -201,16 +206,16 @@ public class Turret extends SubsystemBase implements TurretIO{
                double robotTurnCompensation = goalVelocityRadPerSec * TurretConstants.FEEDFORWARD_KV;
 
                if(calibrating){
-                       // motor.set(0.05);
+                       motor.set(0.05);
                        boolean calibrated = Math.abs(motor.getStatorCurrent().getValueAsDouble()) >= TurretConstants.CALIBRATION_CURRENT_THRESHOLD;
                        if(calibrationDebouncer.calculate(calibrated)){
                                stopCalibrating();
                        }
                } else {
                        // Sets motor control with feedforward
-                       // motor.setControl(mmVoltageRequest
-                       // .withPosition(motorGoalRotations)
-                       // .withFeedForward(robotTurnCompensation));
+                       motor.setControl(mmVoltageRequest
+                       .withPosition(motorGoalRotations)
+                       .withFeedForward(robotTurnCompensation));
                }
 
         Logger.recordOutput("Turret/Voltage", motor.getMotorVoltage().getValue());

diff --git a/src/main/java/frc/robot/subsystems/turret/TurretConstants.java b/src/main/java/frc/robot/subsystems/turret/TurretConstants.java
index 5dac346bebc5c85389862aa28abb4294ce9b789c..838dbb42975ace88659be1ac16c497840ae30773 100644 (file)
--- a/src/main/java/frc/robot/subsystems/turret/TurretConstants.java
+++ b/src/main/java/frc/robot/subsystems/turret/TurretConstants.java
@@ -26,7 +26,7 @@ public class TurretConstants {
 
        public static final double FEEDFORWARD_KV = 0.185;
 
-    public static final double NORMAL_CURRENT_LIMIT = 40.0; // A
+    public static final double NORMAL_CURRENT_LIMIT = 5.0; // A
     public static final double CALIBRATION_CURRENT_LIMIT = 10.0; // A
     public static final double CALIBRATION_CURRENT_THRESHOLD = 9.0; // A