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Merged
Orcasphynx merged 2 commits into from
Apr 4, 2026
Merged

Finished testing #81

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7b2c823
Finished testing
Orcasphynx Apr 4, 2026
0a67ce5
Updated intake values
Orcasphynx Apr 4, 2026
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14 changes: 11 additions & 3 deletions src/main/java/frc/robot/RobotContainer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,7 @@

import static edu.wpi.first.units.Units.RadiansPerSecond;

import com.ctre.phoenix6.SignalLogger;
import com.ctre.phoenix6.swerve.SwerveRequest;
import com.pathplanner.lib.auto.AutoBuilder;
import com.pathplanner.lib.auto.NamedCommands;
Expand All @@ -17,6 +18,7 @@
import edu.wpi.first.wpilibj2.command.WaitCommand;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import edu.wpi.first.wpilibj2.command.button.RobotModeTriggers;
import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Direction;
import frc.robot.statemachines.DriveState;
import frc.robot.statemachines.LaunchState;
import frc.robot.subsystems.drive.DriveConstants;
Expand Down Expand Up @@ -174,9 +176,6 @@ public void configureTestBindings() {
RobotModeTriggers.disabled()
.whileTrue(drivetrain.applyRequest(() -> idle).ignoringDisable(true));

// driverJoystick.rightBumper().onTrue(Commands.runOnce(SignalLogger::start));
// driverJoystick.leftBumper().onTrue(Commands.runOnce(SignalLogger::stop));

// operatorJoystick.y().whileTrue(shooter.sysIdQuasistatic(SysIdRoutine.Direction.kForward));
// operatorJoystick.a().whileTrue(shooter.sysIdQuasistatic(SysIdRoutine.Direction.kReverse));
// operatorJoystick.b().whileTrue(shooter.sysIdDynamic(SysIdRoutine.Direction.kForward));
Expand Down Expand Up @@ -309,6 +308,15 @@ public void configureTeleopBindings() {
operatorJoystick.rightBumper().onTrue(shooter.stopFlywheelOutputCommand());

drivetrain.registerTelemetry(logger::telemeterize);

SmartDashboard.putData(
"Shooter/SysIdForwardQuasistatic", shooter.sysIdQuasistatic(Direction.kForward));
SmartDashboard.putData(
"Shooter/SysIdReverseQuasistatic", shooter.sysIdQuasistatic(Direction.kReverse));
SmartDashboard.putData("Shooter/SysIdForwardDynamic", shooter.sysIdDynamic(Direction.kForward));
SmartDashboard.putData("Shooter/SysIdReverseDynamic", shooter.sysIdDynamic(Direction.kReverse));
SmartDashboard.putData("Start Logger", Commands.runOnce(SignalLogger::start));
SmartDashboard.putData("Stop Logger", Commands.runOnce(SignalLogger::stop));
}

public Command getAutonomousCommand() {
Expand Down
11 changes: 6 additions & 5 deletions src/main/java/frc/robot/subsystems/intake/IntakeConstants.java
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Expand Up @@ -70,9 +70,10 @@ public static OpenLoopRampsConfigs createRollerMotorRampConfigs() {
// Extension Motor
public static final double ALLOWABLE_EXTENSION_ERROR = 1;

public static final double EXTENSION_KS = 0.456;
public static final double EXTENSION_KP = 6.8;
public static final double EXTENSION_KD = 0.2;
public static final double EXTENSION_KS = 0.468;
public static final double EXTENSION_KP = 7.5;
public static final double EXTENSION_KI = 1.75;
public static final double EXTENSION_KD = 0.3;

public static Slot0Configs createExtensionMotorSlot0Configs() {
Slot0Configs slot = new Slot0Configs();
Expand Down Expand Up @@ -105,8 +106,8 @@ public static Slot2Configs createExtensionMotorSlot2Configs() {
return slot;
}

public static final double INTAKE_FORWARD_LIMIT = 14.55;
public static final double INTAKE_REVERSE_LIMIT = 0.1;
public static final double INTAKE_FORWARD_LIMIT = 14.6;
public static final double INTAKE_REVERSE_LIMIT = 3.5;

public static SoftwareLimitSwitchConfigs createExtensionSoftwareLimitSwitchConfigs() {
SoftwareLimitSwitchConfigs configs = new SoftwareLimitSwitchConfigs();
Expand Down
14 changes: 7 additions & 7 deletions src/main/java/frc/robot/subsystems/shooter/ShooterConstants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -29,7 +29,7 @@ public static MotorOutputConfigs createRightFlywheelMotorOutputConfigs() {

public static MotorOutputConfigs createLeftFlywheelLeaderMotorOutputConfigs() {
MotorOutputConfigs newConfigs = new MotorOutputConfigs();
newConfigs.Inverted = InvertedValue.Clockwise_Positive;
newConfigs.Inverted = InvertedValue.CounterClockwise_Positive;
newConfigs.NeutralMode = NeutralModeValue.Coast;
return newConfigs;
}
Expand Down Expand Up @@ -90,25 +90,24 @@ public static Slot0Configs createHoodMotorSlot0Configs() {
return slot;
}

/*

// TODO: Tune Flywheel and Hood Motor

// Flywheel motor
public static final double FLYWHEEL_KS = 0.11239;
public static final double FLYWHEEL_KV = 0.11589;
public static final double FLYWHEEL_KA = 0.0034356;
public static final double FLYWHEEL_KP = 0.066945 * 2;
public static final double FLYWHEEL_KV = 0.12807;
public static final double FLYWHEEL_KA = 0.020039;
public static final double FLYWHEEL_KP = 0.17969;

public static Slot0Configs createFlywheelMotorSlot0Configs() {
Slot0Configs slot = new Slot0Configs();
slot.kS = FLYWHEEL_KS;
slot.kV = FLYWHEEL_KV;
slot.kP = FLYWHEEL_KP;
slot.kA = FLYWHEEL_KA;
return slot;
}


/*
public static final double ALLOWABLE_HOOD_ERROR = 0.1;
public static final double HOOD_FORWARD_LIMIT = 6.2;
public static final double HOOD_REVERSE_LIMIT = 0;
Expand All @@ -128,6 +127,7 @@ public static MotorOutputConfigs createHoodMotorOutputConfigs() {
newConfigs.NeutralMode = NeutralModeValue.Brake;
return newConfigs;
}


public static final DutyCycleOut SAFE_HOMING_EFFORT = new DutyCycleOut(-0.2);
public static final Current SAFE_STATOR_LIMIT = Amp.of(0.8);
Expand Down
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