From 292331906fc8f3cb7a8c9948199d81599e17df0c Mon Sep 17 00:00:00 2001 From: moo Date: Wed, 22 Apr 2026 16:35:27 -0700 Subject: [PATCH] updating offsets also some other things Co-Authored-By: Timofei <108955303+iefomit@users.noreply.github.com> --- src/main/java/frc/robot/RobotContainer.java | 5 +++-- src/main/java/frc/robot/commands/Music.java | 4 +++- .../frc/robot/constants/swerve/DriveConstants.java | 10 +++++----- .../frc/robot/subsystems/spindexer/Spindexer.java | 12 ++++++++---- 4 files changed, 19 insertions(+), 12 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 895a1e9..0c8dc64 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -105,6 +105,9 @@ public class RobotContainer { default: + case TwinBot: + + case PrimeJr: // AKA Valence spindexer = new Spindexer(); intake = new Intake(); @@ -116,8 +119,6 @@ public class RobotContainer { shooter = new Shooter(); hood = new Hood(); - case TwinBot: - case SwerveCompetition: // AKA "Vantage" case BetaBot: // AKA "Pancake" diff --git a/src/main/java/frc/robot/commands/Music.java b/src/main/java/frc/robot/commands/Music.java index cd89318..af0c16d 100644 --- a/src/main/java/frc/robot/commands/Music.java +++ b/src/main/java/frc/robot/commands/Music.java @@ -11,8 +11,10 @@ public class Music extends Command { public Music(TalonFX[] motors) { orchestra = new Orchestra(Filesystem.getDeployDirectory() + "/chirp/file.chrp"); - for (TalonFX motor : motors) + for (TalonFX motor : motors) { + System.out.println(motor.getDescription()); orchestra.addInstrument(motor); + } } @Override diff --git a/src/main/java/frc/robot/constants/swerve/DriveConstants.java b/src/main/java/frc/robot/constants/swerve/DriveConstants.java index 248e26a..ad14e7f 100644 --- a/src/main/java/frc/robot/constants/swerve/DriveConstants.java +++ b/src/main/java/frc/robot/constants/swerve/DriveConstants.java @@ -226,11 +226,11 @@ public class DriveConstants { MODULE_CONSTANTS = COTSFalconSwerveConstants.SDSMK5n(DRIVE_GEAR_RATIO); - } else if(robotId == RobotId.WaffleHouse){ - STEER_OFFSET_FRONT_LEFT = 300.058594 - 350 + 180; - STEER_OFFSET_FRONT_RIGHT = 65.654297 + 180; - STEER_OFFSET_BACK_LEFT = 38.232422 + 180 + 180; - STEER_OFFSET_BACK_RIGHT = 116.279297 + 180; + } else if(robotId == RobotId.TwinBot){ + STEER_OFFSET_FRONT_LEFT = 301.201172 - 350 + 180; + STEER_OFFSET_FRONT_RIGHT = 67.324219 + 180; + STEER_OFFSET_BACK_LEFT = 39.814463 + 180 + 180; + STEER_OFFSET_BACK_RIGHT = 294.873047; // MK5n gear ratio INVERT_STEER_MOTOR = InvertedValue.CounterClockwise_Positive; diff --git a/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java b/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java index 7eb4459..6260920 100644 --- a/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java +++ b/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java @@ -53,6 +53,8 @@ public class Spindexer extends SubsystemBase implements SpindexerIO { CUSTOM, } + private SpindexerState pastState = SpindexerState.STOPPED; + @Override public void periodic() { updateInputs(); @@ -68,10 +70,12 @@ public class Spindexer extends SubsystemBase implements SpindexerIO { setMotorVoltages(power); } - if (state == SpindexerState.REVERSE) { - setNewCurrentLimit(SpindexerConstants.SUPPLY_CURRENT_LIMIT, SpindexerConstants.CURRENT_REVERSE_STATOR_LIMIT); - } else { - setNewCurrentLimit(SpindexerConstants.SUPPLY_CURRENT_LIMIT, SpindexerConstants.CURRENT_FORWARD_STATOR_LIMIT); + if (state != pastState) { + if (state == SpindexerState.REVERSE) { + setNewCurrentLimit(SpindexerConstants.SUPPLY_CURRENT_LIMIT, SpindexerConstants.CURRENT_REVERSE_STATOR_LIMIT); + } else { + setNewCurrentLimit(SpindexerConstants.SUPPLY_CURRENT_LIMIT, SpindexerConstants.CURRENT_FORWARD_STATOR_LIMIT); + } } if (!Constants.DISABLE_SMART_DASHBOARD) { -- 2.39.5