From: WesleyWong-972 <wesleycwong@gmail.com>
Date: Wed, 29 Apr 2026 21:27:08 +0000 (-0700)
Subject: add back operator via smart dashboard
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=e423d6c4594f006f38bf836cfafc729aca93fd50;p=FRC2026.git

add back operator via smart dashboard
---

diff --git a/src/main/java/frc/robot/commands/gpm/Superstructure.java b/src/main/java/frc/robot/commands/gpm/Superstructure.java
index b49b008..b28a907 100644
--- a/src/main/java/frc/robot/commands/gpm/Superstructure.java
+++ b/src/main/java/frc/robot/commands/gpm/Superstructure.java
@@ -54,18 +54,22 @@ public class Superstructure extends Command {
 
     private TurretState goalState;
 
-    private LoggedNetworkNumber phaseDelay = new LoggedNetworkNumber("/Tuning/OPERATOR/Phase Delay", 0.03); //Extrapolation delay due to latency
+    // private LoggedNetworkNumber phaseDelay = new LoggedNetworkNumber("/Tuning/OPERATOR/Phase Delay", 0.03); //Extrapolation delay due to latency
+    private double phaseDelay = 0.03;
 
     private Translation2d target = FieldConstants.HUB_BLUE.toTranslation2d();
 
     private PhaseManager phaseManager = new PhaseManager();
 
-    private LoggedNetworkNumber hoodOffset = new LoggedNetworkNumber("/Tuning/OPERATOR/Hood Offset", 0.0);
+    // private LoggedNetworkNumber hoodOffset = new LoggedNetworkNumber("/Tuning/OPERATOR/Hood Offset", 0.0);
+    private double hoodOffset = 0.0;
 
-    private LoggedNetworkNumber turretOffset = new LoggedNetworkNumber("/Tuning/OPERATOR/Turret Offet",0.0);
+    // private LoggedNetworkNumber turretOffset = new LoggedNetworkNumber("/Tuning/OPERATOR/Turret Offet",0.0);
+    private double turretOffset = 0.0;
 
     private double distanceFromTarget = 0.0;
-    private LoggedNetworkNumber TOFAdjustment = new LoggedNetworkNumber("/Tuning/OPERATOR/TOF Adjustment", 1.1);
+    // private LoggedNetworkNumber TOFAdjustment = new LoggedNetworkNumber("/Tuning/OPERATOR/TOF Adjustment", 1.1);
+    private double TOFAdjustment = 1.1;
 
     public Superstructure(Turret turret, Drivetrain drivetrain, Hood hood, Shooter shooter, Spindexer spindexer) {
         this.turret = turret;
@@ -119,7 +123,7 @@ public class Superstructure extends Command {
             target3d.minus(lookahead3d),
             2.0);
 
-            timeOfFlight = goalState.timeOfFlight() * TOFAdjustment.get();
+            timeOfFlight = goalState.timeOfFlight() * TOFAdjustment;
             double offsetX = turretVelocityX * timeOfFlight;
             double offsetY = turretVelocityY * timeOfFlight;
             Pose2d newLookaheadPose =
@@ -162,7 +166,7 @@ public class Superstructure extends Command {
 
         // Shortest path
         double error = MathUtil.inputModulus(Units.radiansToDegrees(adjustedTurretSetpoint) - Units.radiansToDegrees(turret.getPositionRad()), -180, 180);
-        double potentialSetpoint = Units.radiansToDegrees(turret.getPositionRad()) + error + turretOffset.get();
+        double potentialSetpoint = Units.radiansToDegrees(turret.getPositionRad()) + error + turretOffset;
 
         // Stay within physical limits -- if shortest path is past max angle, we go long way around
         if (potentialSetpoint > TurretConstants.MAX_ANGLE) {
@@ -217,22 +221,22 @@ public class Superstructure extends Command {
 
     // shoot higher
     public void bumpUpHoodOffset() {
-        hoodOffset.set(hoodOffset.get() + 1.0); //1 deg
+        hoodOffset += 1.0; //1 deg
     }
 
     // shoot lower
     public void bumpDownHoodOffset() {
-        hoodOffset.set(hoodOffset.get() - 1.0); //1 deg
+        hoodOffset -= 1.0; //1 deg
     }
 
     // aim more left
     public void bumpUpTurretOffset() {
-        turretOffset.set(turretOffset.get() + 2.5); //2.5 deg
+        turretOffset += 2.5; //2.5 deg
     }
 
     // aim more right
     public void bumpDownTurretOffset() {
-        turretOffset.set(turretOffset.get() - 2.5); //2.5 deg
+        turretOffset -= 2.5; //2.5 deg
     }
 
     @Override
@@ -293,11 +297,21 @@ public class Superstructure extends Command {
         // for operator
         if (!Constants.DISABLE_SMART_DASHBOARD) {
             SmartDashboard.putString("Phase Manager State", phaseManager.getCurrentState().toString());
-            
         } else {
-            phaseDelay.set(0.03);
+            phaseDelay = 0.03;
         }
 
+        turretOffset = SmartDashboard.getNumber("OPERATOR: Turret Offset", turretOffset);
+        SmartDashboard.putNumber("OPERATOR: Turret Offset", turretOffset);
+
+        turretOffset = SmartDashboard.getNumber("OPERATOR: Hood Offset", hoodOffset);
+        SmartDashboard.putNumber("OPERATOR: Hood Offset", hoodOffset);
+
+        turretOffset = SmartDashboard.getNumber("OPERATOR: Phase Delay", phaseDelay);
+        SmartDashboard.putNumber("OPERATOR: Phase Delay", phaseDelay);
+
+        turretOffset = SmartDashboard.getNumber("OPERATOR: ToF Adjustments", TOFAdjustment);
+        SmartDashboard.putNumber("OPERATOR: ToF Adjustments", TOFAdjustment);
     }
 
     @Override
diff --git a/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
index 0594f86..8b223ec 100644
--- a/src/main/java/frc/robot/subsystems/shooter/Shooter.java
+++ b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
@@ -35,7 +35,8 @@ public class Shooter extends SubsystemBase implements ShooterIO {
 
     private final ShooterIOInputsAutoLogged inputs = new ShooterIOInputsAutoLogged();
 
-    private LoggedNetworkNumber powerModifier = new LoggedNetworkNumber("/Tuning/OPERATOR/Shooter Modifier", 1.0);
+    // private LoggedNetworkNumber powerModifier = new LoggedNetworkNumber("/Tuning/OPERATOR/Shooter Modifier", 1.0);
+    private double powerModifier = 1.0;
 
     public Shooter() {
         updateInputs();
@@ -82,7 +83,7 @@ public class Shooter extends SubsystemBase implements ShooterIO {
 
         
         // Convert to RPS
-        double targetVelocityRPS = Units.radiansToRotations(shooterTargetSpeed / (ShooterConstants.SHOOTER_LAUNCH_DIAMETER/2)) * powerModifier.get();
+        double targetVelocityRPS = Units.radiansToRotations(shooterTargetSpeed / (ShooterConstants.SHOOTER_LAUNCH_DIAMETER/2)) * powerModifier;
 
         if (!Constants.DISABLE_SMART_DASHBOARD) {
             SmartDashboard.putNumber("Target Velocity RPS", targetVelocityRPS);
@@ -106,8 +107,8 @@ public class Shooter extends SubsystemBase implements ShooterIO {
             SmartDashboard.putBoolean("Shooter Running", shooterTargetSpeed > 0);
         }
         
-        // powerModifier = SmartDashboard.getNumber("OPERATOR: Shooter Power Modifier", powerModifier);
-        // SmartDashboard.putNumber("OPERATOR: Shooter Power Modifier", powerModifier);
+        powerModifier = SmartDashboard.getNumber("OPERATOR: Shooter Power Modifier", powerModifier);
+        SmartDashboard.putNumber("OPERATOR: Shooter Power Modifier", powerModifier);
 
         Logger.recordOutput("WON AUTO?", (HubActive.wonAuto()) ? "WON" : "LOST");
     }
@@ -156,11 +157,11 @@ public class Shooter extends SubsystemBase implements ShooterIO {
     }
 
     public void bumpUpShooterModifier() {
-        powerModifier.set(powerModifier.get() + 0.025);
+        powerModifier += 0.025;
     }
 
     public void bumpDownShooterModifier() {
-        powerModifier.set(powerModifier.get() - 0.025);
+        powerModifier -= 0.025;
     }
 
     /**