Merge remote-tracking branch 'origin/main' into addressable-rgb

frc937 · Mar 27, 2024 · 0364287 · 0364287
2 parents 19d8c2d + 01e0889
commit 0364287
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Showing 5 changed files with 12 additions and 5 deletions.
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
@@ -35,14 +35,15 @@ public void robotPeriodic() {
   @Override
   public void disabledInit() {
     CommandScheduler.getInstance().schedule(RobotContainer.disabledLights);
+    RobotContainer.mailboxPneumatics.off();
   }
 
   @Override
   public void disabledPeriodic() {}
 
   @Override
   public void disabledExit() {
-    RobotContainer.disabledLights.cancel();
+    RobotContainer.mailboxPneumatics.retract();
   }
 
   @Override

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -302,7 +302,7 @@ public RobotContainer() {
 
     startIntakeCamera.schedule();
 
-    drive.setDefaultCommand(driveFieldOriented);
+    drive.setDefaultCommand(driveFieldOrientedHeadingSnapping);
     robotUnderglow.setDefaultCommand(enabledLights);
   }
 

diff --git a/src/main/java/frc/robot/subsystems/Drive.java b/src/main/java/frc/robot/subsystems/Drive.java
@@ -70,7 +70,7 @@ public Drive() {
             /* HolonomicPathFollowerConfig, this should likely live in your Constants class */
             Constants.Drive.TRANSLATION_DRIVE_PID, /* Translation PID constants */
             Constants.Drive.ROTATION_DRIVE_PID, /* Rotation PID constants */
-            Constants.Drive.MAX_SPEED, /* Max module speed, in m/s */
+            getMaximumSpeed(), /* Max module speed, in m/s */
             Constants.Drive
                 .DISTANCE_ROBOT_CENTER_TO_SWERVE_MODULE, /* Drive base radius in meters. Distance from robot center to furthest module. */
             new ReplanningConfig() /* Default path replanning config. See the API for the options here */),
@@ -168,7 +168,7 @@ public ChassisSpeeds getTargetSpeeds(
         headingX,
         headingY,
         drive.getPose().getRotation().getRadians(),
-        Constants.Drive.MAX_SPEED);
+        getMaximumSpeed());
   }
 
   /**

diff --git a/src/main/java/frc/robot/subsystems/Intake.java b/src/main/java/frc/robot/subsystems/Intake.java
@@ -52,7 +52,7 @@ public Intake() {
     intakeLower.burnFlash();
     intakeUpper.burnFlash();
 
-    Shuffleboard.getTab("Driver").add("Note in intake", false).getEntry();
+    noteIsInIntake = Shuffleboard.getTab("Driver").add("Note in intake", false).getEntry();
   }
 
   /** Runs the intake motors. */

diff --git a/src/main/java/frc/robot/subsystems/mailbox/MailboxPneumatics.java b/src/main/java/frc/robot/subsystems/mailbox/MailboxPneumatics.java
@@ -50,6 +50,12 @@ public void retract() {
     rightPiston.set(DoubleSolenoid.Value.kReverse);
   }
 
+  /** Sets pistons to off */
+  public void off() {
+    leftPiston.set(DoubleSolenoid.Value.kOff);
+    rightPiston.set(DoubleSolenoid.Value.kOff);
+  }
+
   @Override
   public void periodic() {
     // This method will be called once per scheduler run