From 8fc023a0ab3bd6ffcfdb3de47605db83a8cd2ade Mon Sep 17 00:00:00 2001 From: iefomit Date: Tue, 7 Apr 2026 18:52:44 -0700 Subject: [PATCH] optimization --- .../java/frc/robot/subsystems/drivetrain/Drivetrain.java | 5 ++++- src/main/java/frc/robot/subsystems/shooter/Shooter.java | 6 ++++-- src/main/java/frc/robot/subsystems/turret/Turret.java | 3 --- 3 files changed, 8 insertions(+), 6 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/drivetrain/Drivetrain.java b/src/main/java/frc/robot/subsystems/drivetrain/Drivetrain.java index 5b1de6d..4804c89 100644 --- a/src/main/java/frc/robot/subsystems/drivetrain/Drivetrain.java +++ b/src/main/java/frc/robot/subsystems/drivetrain/Drivetrain.java @@ -324,7 +324,10 @@ public class Drivetrain extends SubsystemBase { if (vision != null && visionEnabled && visionEnableTimer.hasElapsed(5)) { vision.updateOdometry(poseEstimator, time -> getPoseAt(time).getRotation().getRadians(), slipped); - if (vision.canSeeTag()) { + // skip vision if no tags + if (!vision.canSeeTag()) { + slipped = true; + } else { slipped = false; modulePoses.reset(); diff --git a/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/src/main/java/frc/robot/subsystems/shooter/Shooter.java index af8cfac..b34a4e5 100644 --- a/src/main/java/frc/robot/subsystems/shooter/Shooter.java +++ b/src/main/java/frc/robot/subsystems/shooter/Shooter.java @@ -81,8 +81,10 @@ public class Shooter extends SubsystemBase implements ShooterIO { // shooterTargetSpeed = SmartDashboard.getNumber("Shooter Setpoint", shooterTargetSpeed); // SmartDashboard.putNumber("Shooter Setpoint", shooterTargetSpeed); - powerModifier = SmartDashboard.getNumber("OPERATOR: Shooter Power Modifier", powerModifier); - SmartDashboard.putNumber("OPERATOR: Shooter Power Modifier", powerModifier); + if (!Constants.DISABLE_SMART_DASHBOARD) { + powerModifier = SmartDashboard.getNumber("OPERATOR: Shooter Power Modifier", powerModifier); + SmartDashboard.putNumber("OPERATOR: Shooter Power Modifier", powerModifier); + } // Convert to RPS double targetVelocityRPS = Units.radiansToRotations(shooterTargetSpeed / (ShooterConstants.SHOOTER_LAUNCH_DIAMETER/2)) * powerModifier; diff --git a/src/main/java/frc/robot/subsystems/turret/Turret.java b/src/main/java/frc/robot/subsystems/turret/Turret.java index 18b79d9..e74cf33 100644 --- a/src/main/java/frc/robot/subsystems/turret/Turret.java +++ b/src/main/java/frc/robot/subsystems/turret/Turret.java @@ -234,9 +234,6 @@ public class Turret extends SubsystemBase implements TurretIO{ // --- Visualization --- ligament.setAngle(Units.radiansToDegrees(getPositionRad())); - updateInputs(); - Logger.processInputs("Turret", inputs); - if (!Constants.DISABLE_SMART_DASHBOARD) { SmartDashboard.putNumber("Turret position", Units.radiansToDegrees(getPositionRad())); SmartDashboard.putBoolean("Turret Calibrated", !calibrating); -- 2.39.5