From: moo Date: Mon, 20 Apr 2026 17:23:26 +0000 (-0700) Subject: fix merge conflicts X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=cd84a87036d121cb8aa55509dc0aa05ad627052e;p=FRC2026.git fix merge conflicts --- cd84a87036d121cb8aa55509dc0aa05ad627052e diff --cc src/main/java/frc/robot/RobotContainer.java index ca5ec03,29bef8a..41df051 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@@ -11,8 -11,6 +11,7 @@@ import com.pathplanner.lib.commands.Pat import edu.wpi.first.math.geometry.Pose3d; import edu.wpi.first.wpilibj.DriverStation; - import edu.wpi.first.wpilibj.Timer; +import edu.wpi.first.wpilibj.PS5Controller; import edu.wpi.first.wpilibj.RobotController; import edu.wpi.first.wpilibj.livewindow.LiveWindow; import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; @@@ -21,11 -19,10 +20,10 @@@ import edu.wpi.first.wpilibj2.command.C import edu.wpi.first.wpilibj2.command.CommandScheduler; import edu.wpi.first.wpilibj2.command.InstantCommand; import edu.wpi.first.wpilibj2.command.ParallelCommandGroup; + import frc.robot.commands.DoNothing; import frc.robot.commands.LogCommand; +import frc.robot.commands.auto_comm.DynamicAutoBuilder; import frc.robot.commands.drive_comm.DefaultDriveCommand; - import frc.robot.commands.gpm.AutoShootCommand; - import frc.robot.commands.gpm.ClimbDriveCommand; -import frc.robot.commands.gpm.BrownOutControl; import frc.robot.commands.gpm.IntakeMovementCommand; import frc.robot.commands.gpm.LockedShoot; import frc.robot.commands.gpm.RunSpindexer; @@@ -37,10 -34,8 +35,9 @@@ import frc.robot.constants.VisionConsta import frc.robot.controls.BaseDriverConfig; import frc.robot.controls.Operator; import frc.robot.controls.PS5ControllerDriverConfig; - import frc.robot.subsystems.Climb.LinearClimb; import frc.robot.subsystems.Intake.Intake; import frc.robot.subsystems.LED.LED; +import frc.robot.subsystems.PowerControl.EMABreaker; import frc.robot.subsystems.drivetrain.Drivetrain; import frc.robot.subsystems.drivetrain.GyroIOPigeon2; import frc.robot.subsystems.hood.Hood; @@@ -76,14 -72,7 +73,14 @@@ public class RobotContainer // Controllers are defined here private BaseDriverConfig driver = null; private Operator operator = null; - private LinearClimb linearClimb = null; + private LED led = null; + + private EMABreaker breaker = null; + + // TODO: move to correct robot and put the correct port? + private PS5Controller ps5 = new PS5Controller(0); + + // auto Command selection private final SendableChooser autoChooser = new SendableChooser<>(); @@@ -173,8 -148,14 +157,10 @@@ if (turret != null) { turret.setDefaultCommand(new Superstructure(turret, drive, hood, shooter, spindexer)); } - - if (shooter != null && spindexer != null && turret != null && intake != null && hood != null && drive != null) { - CommandScheduler.getInstance().schedule(new BrownOutControl(shooter, spindexer, turret, intake, hood, drive)); - } - drive.setDefaultCommand(new DefaultDriveCommand(drive, driver)); + if (drive != null && driver != null) { + drive.setDefaultCommand(new DefaultDriveCommand(drive, driver)); + } break; } diff --cc src/main/java/frc/robot/commands/gpm/Superstructure.java index 12f283d,d767fe8..6689dd9 --- a/src/main/java/frc/robot/commands/gpm/Superstructure.java +++ b/src/main/java/frc/robot/commands/gpm/Superstructure.java @@@ -253,8 -257,11 +261,11 @@@ public class Superstructure extends Com updateSetpoints(drivepose); turretOffset = SmartDashboard.getNumber("OPERATOR: Turret Offset", turretOffset); - SmartDashboard.putNumber("OPERATOR: Turret Offset", turretOffset); + // SmartDashboard.putNumber("OPERATOR: Turret Offset", turretOffset); + shuttlingTOFMultiplier = SmartDashboard.getNumber("Shuttling TOF Multiplier", shuttlingTOFMultiplier); + SmartDashboard.putNumber("Shuttling TOF Multiplier", shuttlingTOFMultiplier); + if (phaseManager.isIdle()) { underLadder(); } else { diff --cc src/main/java/frc/robot/constants/ShuttleInterpolation.java index fe86227,873db71..d5ad1ff --- a/src/main/java/frc/robot/constants/ShuttleInterpolation.java +++ b/src/main/java/frc/robot/constants/ShuttleInterpolation.java @@@ -19,13 -19,12 +19,12 @@@ public class ShuttleInterpolation // we can be less aggressive: y = 0.65 * (1.34959x + 9.79618) // will likely be this that requires tuning. shooterVelocityMap.put(0.0, 9.0); - shooterVelocityMap.put(4.0, 12.8); - shooterVelocityMap.put(7.6, 19.0); - shooterVelocityMap.put(11.4, 28.1); // was 25.2 before + shooterVelocityMap.put(4.0, 12.0 * 1.3); // tuned + shooterVelocityMap.put(8.0, 22.0 * 1.075); // tuned - shooterVelocityMap.put(16.0, 44.0); // untuned + shooterVelocityMap.put(16.54, 70.0); // untested // always shoot at low angle to ground. - newHoodMap.put(0.0, 60.0); - newHoodMap.put(27.99, 60.0); + newHoodMap.put(0.0, 55.0); + newHoodMap.put(27.99, 55.0); } } diff --cc src/main/java/frc/robot/subsystems/turret/Turret.java index 33210e8,d595d5e..760f308 --- a/src/main/java/frc/robot/subsystems/turret/Turret.java +++ b/src/main/java/frc/robot/subsystems/turret/Turret.java @@@ -248,20 -263,34 +249,24 @@@ public class Turret extends SubsystemBa inputs.motorVoltage = motor.getMotorVoltage().getValueAsDouble(); } - /** - * sets supply and stator current limits - * @param limit the current limit for stator and supply current - */ - public void setCurrentLimits(double limit) { - CurrentLimitsConfigs limits = new CurrentLimitsConfigs() - .withStatorCurrentLimitEnable(true) - .withStatorCurrentLimit(limit) - .withSupplyCurrentLimitEnable(true) - .withSupplyCurrentLimit(limit); - - if(limit == TurretConstants.NORMAL_CURRENT_LIMIT){ - limits.SupplyCurrentLowerLimit = TurretConstants.CALIBRATION_CURRENT_LIMIT; - limits.SupplyCurrentLowerTime = 1.0; // Set to lower limit if over 1 second - } - - motor.getConfigurator().apply(limits); + public void setNewCurrentLimit(double stator, double supply) { + CurrentLimitsConfigs limitConfig = new CurrentLimitsConfigs(); + limitConfig.StatorCurrentLimit = stator; + limitConfig.StatorCurrentLimitEnable = true; + limitConfig.SupplyCurrentLimit = supply; + limitConfig.SupplyCurrentLimitEnable = true; + motor.getConfigurator().apply(limitConfig); } - public double getSubsystemStatorCurrent() { - return inputs.motorStatorCurrent; - } + private void calibrate(){ + setCurrentLimits(TurretConstants.CALIBRATION_CURRENT_LIMIT); + calibrating = true; + } - public double getSubsystemSupplyCurrent() { - return inputs.motorSupplyCurrent; - } + private void stopCalibrating(){ + motor.set(Units.degreesToRotations(TurretConstants.CALIBRATION_OFFSET) * TurretConstants.GEAR_RATIO); + setCurrentLimits(TurretConstants.NORMAL_CURRENT_LIMIT); + calibrating = false; + setFieldRelativeTarget(new Rotation2d(Units.degreesToRadians(TurretConstants.CALIBRATION_OFFSET)), 0.0); + } } diff --cc src/main/java/frc/robot/subsystems/turret/TurretConstants.java index 366a215,bdd9eb2..749af85 --- a/src/main/java/frc/robot/subsystems/turret/TurretConstants.java +++ b/src/main/java/frc/robot/subsystems/turret/TurretConstants.java @@@ -24,9 -24,11 +24,10 @@@ public class TurretConstants public static final double EXTRAPOLATION_TIME_CONSTANT = 0.06; - public static final double FEEDFORWARD_KV = 0.06; + public static final double FEEDFORWARD_KV = 0.02 + ; - 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 + public static final double STATOR_CURRENT_LIMIT = 40.0; // A + public static final double SUPPLY_CURRENT_LIMIT = 40.0; // A }