From 004d69b710714b6630eafd376b5590c3b3d17a7d Mon Sep 17 00:00:00 2001 From: iefomit Date: Wed, 4 Mar 2026 16:50:03 -0800 Subject: [PATCH] fixed requested changes --- src/main/java/frc/robot/ClimbCommand.java | 5 ----- .../java/frc/robot/commands/gpm/RunSpindexer.java | 11 ++--------- .../java/frc/robot/commands/gpm/Superstructure.java | 3 +-- src/main/java/frc/robot/constants/FieldConstants.java | 5 +---- .../frc/robot/controls/PS5ControllerDriverConfig.java | 4 ++-- .../java/frc/robot/subsystems/Climb/LinearClimb.java | 3 --- src/main/java/frc/robot/subsystems/Intake/Intake.java | 9 --------- 7 files changed, 6 insertions(+), 34 deletions(-) delete mode 100644 src/main/java/frc/robot/ClimbCommand.java diff --git a/src/main/java/frc/robot/ClimbCommand.java b/src/main/java/frc/robot/ClimbCommand.java deleted file mode 100644 index 3a78464..0000000 --- a/src/main/java/frc/robot/ClimbCommand.java +++ /dev/null @@ -1,5 +0,0 @@ -package frc.robot; - -public class ClimbCommand { - -} diff --git a/src/main/java/frc/robot/commands/gpm/RunSpindexer.java b/src/main/java/frc/robot/commands/gpm/RunSpindexer.java index 7ffc366..42480ff 100644 --- a/src/main/java/frc/robot/commands/gpm/RunSpindexer.java +++ b/src/main/java/frc/robot/commands/gpm/RunSpindexer.java @@ -2,26 +2,19 @@ package frc.robot.commands.gpm; import edu.wpi.first.wpilibj2.command.Command; import frc.robot.subsystems.spindexer.Spindexer; -import frc.robot.subsystems.turret.Turret; public class RunSpindexer extends Command { private Spindexer spindexer; - private Turret turret; - public RunSpindexer(Spindexer spindexer, Turret turret){ + public RunSpindexer(Spindexer spindexer){ this.spindexer = spindexer; - this.turret = turret; addRequirements(spindexer); } @Override public void execute() { - //if (turret.atSetpoint()){ - spindexer.maxSpindexer(); - // } else{ - // spindexer.stopSpindexer(); - // } + spindexer.maxSpindexer(); } @Override diff --git a/src/main/java/frc/robot/commands/gpm/Superstructure.java b/src/main/java/frc/robot/commands/gpm/Superstructure.java index bdffb1b..255e1b3 100644 --- a/src/main/java/frc/robot/commands/gpm/Superstructure.java +++ b/src/main/java/frc/robot/commands/gpm/Superstructure.java @@ -120,8 +120,7 @@ public class Superstructure extends Command { goalState = ShooterPhysics.getShotParams( Translation2d.kZero, target3d.minus(lookahead3d), - target == FieldConstants.getHubTranslation().toTranslation2d() ? - 2.0 : 2.0); + 2.0); double TOFAdjustment = 0.85; timeOfFlight = goalState.timeOfFlight() * TOFAdjustment; diff --git a/src/main/java/frc/robot/constants/FieldConstants.java b/src/main/java/frc/robot/constants/FieldConstants.java index 4ee974c..68ac966 100644 --- a/src/main/java/frc/robot/constants/FieldConstants.java +++ b/src/main/java/frc/robot/constants/FieldConstants.java @@ -156,10 +156,7 @@ public class FieldConstants { * @return Whether Y coordinate is in the upper half (left side on blue alliance) */ public static boolean isOnLeftSideOfField(Translation2d drivepose){ - if (drivepose.getY() > FIELD_WIDTH/2){ - return true; - } - return false; + return drivepose.getY() > FIELD_WIDTH/2; } public static Translation3d getOppositionTranslation(boolean sideLeft) { diff --git a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java index 216bce9..58dc1c3 100644 --- a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java +++ b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java @@ -112,7 +112,7 @@ public class PS5ControllerDriverConfig extends BaseDriverConfig { } }, intake)); - // Retract if hold for 3 seconds + // Retract if hold for 2 seconds controller.get(PS5Button.RIGHT_TRIGGER).debounce(2.0).onTrue(new InstantCommand(() -> { intake.retract(); intakeBoolean = true; @@ -139,7 +139,7 @@ public class PS5ControllerDriverConfig extends BaseDriverConfig { // Spindexer if (spindexer != null) { // Will only run if we are not calling default shoot command - controller.get(PS5Button.LEFT_TRIGGER).whileTrue(new RunSpindexer(spindexer, turret)); + controller.get(PS5Button.LEFT_TRIGGER).whileTrue(new RunSpindexer(spindexer)); } // Auto shoot diff --git a/src/main/java/frc/robot/subsystems/Climb/LinearClimb.java b/src/main/java/frc/robot/subsystems/Climb/LinearClimb.java index 9667a77..163f253 100644 --- a/src/main/java/frc/robot/subsystems/Climb/LinearClimb.java +++ b/src/main/java/frc/robot/subsystems/Climb/LinearClimb.java @@ -73,9 +73,6 @@ public class LinearClimb extends SubsystemBase implements LinearClimbIO{ * @param setpoint in rotations */ public void setSetpoint(double setpoint) { - TalonFXConfiguration config = new TalonFXConfiguration(); - config.MotorOutput.Inverted = InvertedValue.Clockwise_Positive; - motor.getConfigurator().apply(config); pid.setSetpoint(setpoint); } diff --git a/src/main/java/frc/robot/subsystems/Intake/Intake.java b/src/main/java/frc/robot/subsystems/Intake/Intake.java index ca0a840..7721f50 100644 --- a/src/main/java/frc/robot/subsystems/Intake/Intake.java +++ b/src/main/java/frc/robot/subsystems/Intake/Intake.java @@ -230,15 +230,6 @@ public class Intake extends SubsystemBase implements IntakeIO{ * @param setpoint in inches */ public void setPosition(double setpoint) { - leftMotor.getConfigurator().apply( - new MotorOutputConfigs().withInverted(InvertedValue.Clockwise_Positive) - .withNeutralMode(NeutralModeValue.Coast) - ); - - rightMotor.getConfigurator().apply( - new MotorOutputConfigs().withNeutralMode(NeutralModeValue.Coast) - ); - double motorRotations = inchesToRotations(setpoint); rightMotor.setControl(voltageRequest.withPosition(motorRotations)); leftMotor.setControl(voltageRequest.withPosition(motorRotations)); -- 2.39.5