From 3d40904ff30d1d70faf0be4053f7c1a0a9fc829a Mon Sep 17 00:00:00 2001 From: WesleyWong-972 Date: Sat, 28 Mar 2026 05:27:17 -0700 Subject: [PATCH] smart dashboard stuff for elastic --- src/main/java/frc/robot/subsystems/Intake/Intake.java | 4 +++- src/main/java/frc/robot/subsystems/spindexer/Spindexer.java | 2 ++ src/main/java/frc/robot/subsystems/turret/Turret.java | 5 +++++ 3 files changed, 10 insertions(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/subsystems/Intake/Intake.java b/src/main/java/frc/robot/subsystems/Intake/Intake.java index ab4ded6..126013e 100644 --- a/src/main/java/frc/robot/subsystems/Intake/Intake.java +++ b/src/main/java/frc/robot/subsystems/Intake/Intake.java @@ -150,7 +150,9 @@ public class Intake extends SubsystemBase implements IntakeIO{ SmartDashboard.putData("Extension Mechanism", mechanism); SmartDashboard.putData("Intake Calibrate", new InstantCommand(() -> calibrate())); SmartDashboard.putData("Intake Stop Calibrating", new InstantCommand(() -> stopCalibrating())); - + SmartDashboard.putData("Extend Intake", new InstantCommand(() -> extend())); + SmartDashboard.putData("Retract Intake", new InstantCommand(() -> retract())); + if (RobotBase.isSimulation()) { // Extender simulation // the supply voltage should change with load.... diff --git a/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java b/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java index 0f06b8a..4af68f9 100644 --- a/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java +++ b/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java @@ -69,6 +69,8 @@ public class Spindexer extends SubsystemBase implements SpindexerIO { ballCount++; } wasSpindexerSlow = isSpindexerSlow; + + SmartDashboard.putBoolean("Spindexer Jamming", reversing); } public void maxSpindexer() { diff --git a/src/main/java/frc/robot/subsystems/turret/Turret.java b/src/main/java/frc/robot/subsystems/turret/Turret.java index 3dddcd2..69247a1 100644 --- a/src/main/java/frc/robot/subsystems/turret/Turret.java +++ b/src/main/java/frc/robot/subsystems/turret/Turret.java @@ -105,6 +105,7 @@ public class Turret extends SubsystemBase implements TurretIO{ SmartDashboard.putData("Turret Mech", mech); SmartDashboard.putData("Start turret calibration", new InstantCommand(()-> calibrate())); SmartDashboard.putData("Stop turret calibration", new InstantCommand(()-> stopCalibrating())); + SmartDashboard.putData("Reset Turret Position to Zero", new InstantCommand(() -> resetTurretPosition())); SendableChooser turretTestChooser = new SendableChooser<>(); turretTestChooser.setDefaultOption("Turn to 0", new InstantCommand(()-> setFieldRelativeTarget(Rotation2d.fromDegrees(0), 0.0))); @@ -151,6 +152,10 @@ public class Turret extends SubsystemBase implements TurretIO{ return Units.rotationsToDegrees(motor.getPosition().getValueAsDouble()) / TurretConstants.GEAR_RATIO; } + public void resetTurretPosition() { + inputs.positionDeg = 0.0; + } + /* ---------------- Periodic ---------------- */ @Override -- 2.39.5