quals day 1

MillenniumFalcons · Sep 29, 2024 · 21b8b78 · 21b8b78
1 parent ef25a62
commit 21b8b78
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Showing 12 changed files with 3,099 additions and 52 deletions.
diff --git a/choreo.chor b/choreo.chor
diff --git a/src/main/deploy/choreo/f3 to shoot2.1.traj b/src/main/deploy/choreo/f3 to shoot2.1.traj
diff --git a/src/main/deploy/choreo/f3 to shoot2.traj b/src/main/deploy/choreo/f3 to shoot2.traj
diff --git a/src/main/deploy/choreo/f3 to shoot3.1.traj b/src/main/deploy/choreo/f3 to shoot3.1.traj
diff --git a/src/main/deploy/choreo/f3 to shoot3.traj b/src/main/deploy/choreo/f3 to shoot3.traj
diff --git a/src/main/deploy/choreo/s3 preload and move.1.traj b/src/main/deploy/choreo/s3 preload and move.1.traj
diff --git a/src/main/deploy/choreo/s3 preload and move.traj b/src/main/deploy/choreo/s3 preload and move.traj
diff --git a/src/main/java/team3647/frc2024/constants/PivotConstants.java b/src/main/java/team3647/frc2024/constants/PivotConstants.java
@@ -71,6 +71,9 @@ public class PivotConstants {
     public static final InterpolatingDoubleTreeMap kMasterTrapMap =
             new InterpolatingDoubleTreeMap();
 
+    public static final InterpolatingDoubleTreeMap feedmap = 
+        new InterpolatingDoubleTreeMap();
+
     static {
         // kMasterSpeakerMap.put(0.0, 60.0);
         // kMasterSpeakerMap.put(1.3, 60.0);
@@ -108,6 +111,9 @@ public class PivotConstants {
         kMasterSpeakerMap.put(20.0, 20.7); // //
         kMasterAmpMap.put(0.0, 60.0);
         kMasterAmpMap.put(100.0, 60.0);
+        feedmap.put(10.0, 60.0);
+        feedmap.put(0.0, 20.7);
+
         Slot0Configs kMasterSlot0 = new Slot0Configs();
         CurrentLimitsConfigs kMasterCurrent = new CurrentLimitsConfigs();
         MotionMagicConfigs kMasterMotionMagic = new MotionMagicConfigs();

diff --git a/src/main/java/team3647/frc2024/constants/ShooterConstants.java b/src/main/java/team3647/frc2024/constants/ShooterConstants.java
@@ -97,10 +97,10 @@ public class ShooterConstants {
         kRightMap.put(8.5, 18.0);
         kRightMap.put(20.0, 18.0);
 
-        kFeedMap.put(0.0, 11.0);
-        kFeedMap.put(8.0, 11.0);
-        kFeedMap.put(12.0, 13.5);
-        kFeedMap.put(20.0, 13.5);
+        kFeedMap.put(0.0, 3.0);
+        kFeedMap.put(8.0, 3.0);
+        kFeedMap.put(12.0, 3.0);
+        kFeedMap.put(20.0, 3.0);
 
         Slot0Configs kRightSlot0 = new Slot0Configs();
         Slot0Configs kLeftSlot0 = new Slot0Configs();

diff --git a/src/main/java/team3647/frc2024/robot/RobotContainer.java b/src/main/java/team3647/frc2024/robot/RobotContainer.java
@@ -493,7 +493,7 @@ public Command getAutonomousCommand() {
                     swerve::getOdoPose,
                     swerve::getChassisSpeeds,
                     ShooterConstants.kLeftMap,
-                    true);
+                    false);
 
     public final TargetingUtil targetingUtil = new TargetingUtil(tracker);
 

diff --git a/src/main/java/team3647/frc2024/subsystems/Superstructure.java b/src/main/java/team3647/frc2024/subsystems/Superstructure.java
@@ -41,7 +41,9 @@ public class Superstructure {
     private final double churroDeployAngle = 70;
     private final double churroStowAngle = ChurroConstants.kInitialDegree;
     private final double shootSpeed;
-    private double currentLimit = 32;
+    private double currentLimit = 70;
+
+    ;
     private boolean hasPiece = false;
     private boolean isClimbing;
     private boolean isIntaking = false;
@@ -163,7 +165,7 @@ public Command stowChurro() {
     }
 
     public Command spinUpAmp() {
-        return shooterCommands.setVelocity(() -> 6.5, () -> 2.3);
+        return shooterCommands.setVelocity(() -> 6.5, () -> 4.0);
     }
 
     public Command setShootModeStationary() {

diff --git a/src/main/java/team3647/frc2024/util/TargetingUtil.java b/src/main/java/team3647/frc2024/util/TargetingUtil.java
@@ -8,6 +8,7 @@
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 import team3647.frc2024.constants.PivotConstants;
+import team3647.frc2024.subsystems.Pivot;
 
 public class TargetingUtil {
 
@@ -103,7 +104,7 @@ public AimingParameters feedOnTheMove(Pose2d pose) {
         Pose2d shotPose = robotTracker.compensateFeed(robotTracker.getPose());
         double pivotAngle =
                 Math.toRadians(
-                        speakerMap.get(robotTracker.getDistanceFromSpeaker(shotPose)) + offset);
+                        PivotConstants.feedmap.get(robotTracker.getDistanceFromSpeaker(shotPose)) + offset);
         final var toPose = shotPose.minus(pose).getTranslation();
         double angle =
                 Math.acos(toPose.getX() / toPose.getNorm())