From 697fab0c579274628ab4d62d10620a878dca0c77 Mon Sep 17 00:00:00 2001 From: moo Date: Sun, 8 Mar 2026 16:03:44 -0700 Subject: [PATCH] numbies --- src/main/java/frc/robot/commands/gpm/Superstructure.java | 2 ++ src/main/java/frc/robot/constants/ShotInterpolation.java | 2 ++ src/main/java/frc/robot/subsystems/hood/Hood.java | 2 +- src/main/java/frc/robot/subsystems/shooter/Shooter.java | 1 + src/main/java/frc/robot/subsystems/turret/TurretConstants.java | 2 +- 5 files changed, 7 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/commands/gpm/Superstructure.java b/src/main/java/frc/robot/commands/gpm/Superstructure.java index 91506fd..5c48348 100644 --- a/src/main/java/frc/robot/commands/gpm/Superstructure.java +++ b/src/main/java/frc/robot/commands/gpm/Superstructure.java @@ -245,6 +245,8 @@ public class Superstructure extends Command { Logger.recordOutput("Turret Calculated Setpoint", turretSetpoint); Logger.recordOutput("Hood Calculate Setpoint", hoodSetpoint); Logger.recordOutput("Shooter Calculate Velocity", goalState.exitVel()); + + Logger.recordOutput("DistanceToTarget", target.getDistance(drivepose.getTranslation())); SmartDashboard.putString("Phase Manager State", phaseManager.getCurrentState().toString()); } diff --git a/src/main/java/frc/robot/constants/ShotInterpolation.java b/src/main/java/frc/robot/constants/ShotInterpolation.java index a132a67..2d35d81 100644 --- a/src/main/java/frc/robot/constants/ShotInterpolation.java +++ b/src/main/java/frc/robot/constants/ShotInterpolation.java @@ -43,6 +43,7 @@ public class ShotInterpolation { exitVelocityMap.put(11.0, 26.0); exitVelocityMap.put(25.0, 25.0* 3.2); + shooterVelocityMap.put(1.00, 11.5); shooterVelocityMap.put(1.49, 11.5); shooterVelocityMap.put(2.09, 12.5); shooterVelocityMap.put(2.95, 13.5); @@ -53,6 +54,7 @@ public class ShotInterpolation { shooterVelocityMap.put(0.0, 9.55); shooterVelocityMap.put(25.0, 43.44); + newHoodMap.put(1.00, 78.0); newHoodMap.put(1.49, 72.0); newHoodMap.put(2.09, 70.0); newHoodMap.put(2.95, 68.0); diff --git a/src/main/java/frc/robot/subsystems/hood/Hood.java b/src/main/java/frc/robot/subsystems/hood/Hood.java index dbaa397..1959139 100644 --- a/src/main/java/frc/robot/subsystems/hood/Hood.java +++ b/src/main/java/frc/robot/subsystems/hood/Hood.java @@ -36,7 +36,7 @@ public class Hood extends SubsystemBase implements HoodIO { private boolean calibrating = false; private Debouncer calibrateDebouncer = new Debouncer(0.5, DebounceType.kRising); - private boolean forceHoodDown = true; + private boolean forceHoodDown = false; private HoodIOInputsAutoLogged inputs = new HoodIOInputsAutoLogged(); diff --git a/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/src/main/java/frc/robot/subsystems/shooter/Shooter.java index 7b8ff5e..b8c0208 100644 --- a/src/main/java/frc/robot/subsystems/shooter/Shooter.java +++ b/src/main/java/frc/robot/subsystems/shooter/Shooter.java @@ -72,6 +72,7 @@ public class Shooter extends SubsystemBase implements ShooterIO { shooterMotorLeft.setControl(voltageRequest.withVelocity(targetVelocityRPS)); shooterMotorRight.setControl(voltageRequest.withVelocity(targetVelocityRPS)); + Logger.recordOutput("Shooter/realVelocity", shooterMotorLeft.getVelocity().getValueAsDouble() * ShooterConstants.SHOOTER_LAUNCH_DIAMETER); Logger.recordOutput("Shooter/targetVelocity", shooterTargetSpeed); } diff --git a/src/main/java/frc/robot/subsystems/turret/TurretConstants.java b/src/main/java/frc/robot/subsystems/turret/TurretConstants.java index 8b0d7df..33200ed 100644 --- a/src/main/java/frc/robot/subsystems/turret/TurretConstants.java +++ b/src/main/java/frc/robot/subsystems/turret/TurretConstants.java @@ -35,7 +35,7 @@ public class TurretConstants { public static final double FEEDFORWARD_KV = 0.185; - public static final double NORMAL_CURRENT_LIMIT = 30.0; // A + 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 -- 2.39.5