Spindexer ramp up/down

diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index ac05b79dfbd810b64d3f0783610749c325b1c640..09f74ef17113e1299fff15f4bd6d25a0dd0de101 100644 (file)
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -23,7 +23,7 @@ import edu.wpi.first.wpilibj2.command.CommandScheduler;
 import frc.robot.constants.Constants;
 import frc.robot.constants.VisionConstants;
 import frc.robot.constants.swerve.DriveConstants;
-import frc.robot.util.BuildData;
+// import frc.robot.util.BuildData;
 
 /**
  * The VM is configured to automatically run this class, and to call the functions corresponding to
@@ -80,23 +80,23 @@ public class Robot extends LoggedRobot {
         // obtain this robot's identity
         RobotId robotId = RobotId.getRobotId();
 
-        // Record metadata
-        Logger.recordMetadata("ProjectName", BuildData.MAVEN_NAME);
-        Logger.recordMetadata("BuildDate", BuildData.BUILD_DATE);
-        Logger.recordMetadata("GitSHA", BuildData.GIT_SHA);
-        Logger.recordMetadata("GitDate", BuildData.GIT_DATE);
-        Logger.recordMetadata("GitBranch", BuildData.GIT_BRANCH);
-        switch (BuildData.DIRTY) {
-        case 0:
-            Logger.recordMetadata("GitDirty", "All changes committed");
-            break;
-        case 1:
-            Logger.recordMetadata("GitDirty", "Uncomitted changes");
-            break;
-        default:
-            Logger.recordMetadata("GitDirty", "Unknown");
-            break;
-        }
+        // // Record metadata
+        // Logger.recordMetadata("ProjectName", BuildData.MAVEN_NAME);
+        // Logger.recordMetadata("BuildDate", BuildData.BUILD_DATE);
+        // Logger.recordMetadata("GitSHA", BuildData.GIT_SHA);
+        // Logger.recordMetadata("GitDate", BuildData.GIT_DATE);
+        // Logger.recordMetadata("GitBranch", BuildData.GIT_BRANCH);
+        // switch (BuildData.DIRTY) {
+        // case 0:
+        //     Logger.recordMetadata("GitDirty", "All changes committed");
+        //     break;
+        // case 1:
+        //     Logger.recordMetadata("GitDirty", "Uncomitted changes");
+        //     break;
+        // default:
+        //     Logger.recordMetadata("GitDirty", "Unknown");
+        //     break;
+        // }
 
         robotContainer = new RobotContainer(robotId);
         

diff --git a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
index 26351998b32b3e50136d63e23b945ce8260f17b2..c013cba8c7386c01d7ef3ae06f74912913b3706f 100644 (file)
--- a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
+++ b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
@@ -96,6 +96,16 @@ public class PS5ControllerDriverConfig extends BaseDriverConfig {
                     })
         );
 
+        driver.get(PS5Button.RIGHT_TRIGGER).onTrue(
+            new InstantCommand(() -> {
+                spindexer.accelerateSpindexer();
+            })
+        );
+        driver.get(PS5Button.LEFT_TRIGGER).onTrue(
+            new InstantCommand(() -> {
+                spindexer.deccelerateSpindexer();
+            })
+        );
     }
 
     @Override

diff --git a/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java b/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java
index 32f3fa8424f59606037046865005aac0470708c4..7af137e8775b70fb9a822eca06e4a0cfec0f39e5 100644 (file)
--- a/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java
+++ b/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java
@@ -12,7 +12,6 @@ public class Spindexer extends SubsystemBase implements SpindexerIO{
     TalonFX motor = new TalonFX(IdConstants.SPINDEXER_ID);
 
     private double power = 0.0;
-    private double runPower = 0.0;
 
     private SpindexerIOInputsAutoLogged inputs = new SpindexerIOInputsAutoLogged();
 
@@ -22,14 +21,26 @@ public class Spindexer extends SubsystemBase implements SpindexerIO{
 
     @Override
     public void periodic() {
-        runPower = SmartDashboard.getNumber("Spindexer Power", runPower);
-        SmartDashboard.putNumber("Spindexer Power", runPower);
+        power = SmartDashboard.getNumber("Spindexer Power", power);
+        SmartDashboard.putNumber("Spindexer Power", power);
 
         motor.set(power);
     }
 
-    public void turnOnSpindexer(){
-        power = runPower;
+    public void maxSpindexer(){
+        power = 1.0;
+    }
+
+    public void accelerateSpindexer(){
+        if (power <= 0.998) {
+            power += 0.002; // not sure
+        }
+    }
+
+    public void deccelerateSpindexer(){
+        if (power >= 0.002) {
+            power -= 0.002; // not sure
+        }
     }
 
     public void stopSpindexer(){