fix auto

tank drive default armshoulder brakes now --Gabe
frc937 · Oct 28, 2023 · edaa485 · edaa485
1 parent c1444ca
commit edaa485
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Showing 5 changed files with 6 additions and 3 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -132,7 +132,7 @@ public RobotContainer() {
     SmartDashboard.putData("Choose auto", autoChooser);
 
     compilationArm.setDefaultCommand(manualArm);
-    driveSubsystem.setDefaultCommand(driveRO);
+    driveSubsystem.setDefaultCommand(driveFO);
   }
 
   public Pose containerGetArmPose() {

diff --git a/src/main/java/frc/robot/commands/DriveForwards.java b/src/main/java/frc/robot/commands/DriveForwards.java
@@ -25,7 +25,7 @@ public void initialize() {}
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    drivetrain.moveTank(0.5, 0.5);
+    drivetrain.moveTank(0.8, 0.8);
   }
 
   // Called once the command ends or is interrupted.

diff --git a/src/main/java/frc/robot/commands/DriveReverse.java b/src/main/java/frc/robot/commands/DriveReverse.java
@@ -25,7 +25,7 @@ public void initialize() {}
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    drivetrain.moveTank(-0.5, -0.5);
+    drivetrain.moveTank(-0.8, -0.8);
   }
 
   // Called once the command ends or is interrupted.

diff --git a/src/main/java/frc/robot/subsystems/Drive.java b/src/main/java/frc/robot/subsystems/Drive.java
@@ -417,6 +417,7 @@ public void periodic() {
               >= 1)
           && (Math.abs(
                   limelight.getBotpose2d().getY() - whereTheHeckAreWe.getEstimatedPosition().getY())
+              // nice
               >= 1)) {
         whereTheHeckAreWe.addVisionMeasurement(limelight.getBotpose2d(), Timer.getFPGATimestamp());
       }

diff --git a/src/main/java/frc/robot/subsystems/arm/ArmShoulder.java b/src/main/java/frc/robot/subsystems/arm/ArmShoulder.java
@@ -5,6 +5,7 @@
 
 import com.ctre.phoenix.motorcontrol.ControlMode;
 import com.ctre.phoenix.motorcontrol.FeedbackDevice;
+import com.ctre.phoenix.motorcontrol.NeutralMode;
 import com.ctre.phoenix.motorcontrol.SensorCollection;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
 import edu.wpi.first.wpilibj.DriverStation;
@@ -45,6 +46,7 @@ private WPI_TalonSRX configTalon(int id) {
     talon.configClearPositionOnLimitR(Constants.Arm.AUTO_ZERO_REVERSE_LIMIT_SHOULDER, 0);
     talon.setSensorPhase(Constants.Arm.INVERTED_TALON_SENSOR_ARM_SHOULDER);
     talon.setInverted(Constants.Arm.INVERTED_TALON_ARM_SHOULDER);
+    talon.setNeutralMode(NeutralMode.Brake);
     talon.config_kP(0, Constants.Arm.ShoulderPID.kP);
     talon.config_kI(0, Constants.Arm.ShoulderPID.kI);
     talon.config_kD(0, Constants.Arm.ShoulderPID.kD);