From 365085ea5028e22e65e6387244a40a5591b414da Mon Sep 17 00:00:00 2001 From: Ghost <145223182+GhostR406@users.noreply.github.com> Date: Thu, 19 Mar 2026 19:30:19 -0400 Subject: [PATCH 1/2] Adding default shots --- src/main/java/frc/robot/RobotContainer.java | 20 ++++++++----------- .../frc/robot/generated/TunerConstants.java | 2 +- .../java/frc/robot/subsystems/Shooter.java | 9 +++++++++ 3 files changed, 18 insertions(+), 13 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index eca423a..011d120 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -372,23 +372,19 @@ private void configureButtonBindings() { // intake.simBalls = 0; // })); - // Shoot - controller.leftTrigger().whileTrue(shooter.runFlywheel(RotationsPerSecond.of(67))); - controller.leftTrigger().onFalse(shooter.runFlywheel(RotationsPerSecond.of(0))); - - // Feed + // Feed and Shoot controller .leftBumper() .whileTrue( Commands.parallel( - shooter.runTower(RotationsPerSecond.of(40)), - hopper.runSpindexer(RotationsPerSecond.of(20)), + shooter.fireDeezNutz(), + hopper.runSpindexer(RotationsPerSecond.of(15)), intake.intake())); controller .leftBumper() .onFalse( Commands.parallel( - shooter.runTower(RotationsPerSecond.of(0)), + shooter.stopDeezNutz(), hopper.runSpindexer(RotationsPerSecond.of(0)), Commands.run(() -> intake.stop()))); @@ -415,12 +411,12 @@ private void configureButtonBindings() { // controller.povDown().whileTrue(climber.lowerClimber()); // controller.povDown().onFalse(climber.stopClimber()); - controller.povLeft().onTrue(intake.zeroEncoder()); + // controller.povLeft().onTrue(intake.zeroEncoder()); // Testing Commands - // controller.povLeft().onTrue(shooter.setHoodAngle(6.8)); - // controller.povDown().onTrue(shooter.setHoodAngle(12.1)); - // controller.povRight().onTrue(shooter.setHoodAngle(18.6)); + controller.povUp().onTrue(shooter.setHoodAngle(2.3)); + controller.povRight().onTrue(shooter.setHoodAngle(8)); + controller.povDown().onTrue(shooter.setHoodAngle(9.8)); // controller.povLeft().onTrue(shooter.setAngleForDistance(2.0)); } diff --git a/src/main/java/frc/robot/generated/TunerConstants.java b/src/main/java/frc/robot/generated/TunerConstants.java index 845e8c3..8108fc8 100644 --- a/src/main/java/frc/robot/generated/TunerConstants.java +++ b/src/main/java/frc/robot/generated/TunerConstants.java @@ -57,7 +57,7 @@ public class TunerConstants { // When not Pro-licensed, Fused*/Sync* automatically fall back to Remote* private static final SteerFeedbackType kSteerFeedbackType = SteerFeedbackType.FusedCANcoder; - // The stator current at which the wheels start to slip; + // The stator current at which the wheels start to slip // This needs to be tuned to your individual robot private static final Current kSlipCurrent = Amps.of(120); diff --git a/src/main/java/frc/robot/subsystems/Shooter.java b/src/main/java/frc/robot/subsystems/Shooter.java index 78d0aa3..6404b7f 100644 --- a/src/main/java/frc/robot/subsystems/Shooter.java +++ b/src/main/java/frc/robot/subsystems/Shooter.java @@ -4,6 +4,7 @@ import static edu.wpi.first.units.Units.Degrees; import static edu.wpi.first.units.Units.Meters; import static edu.wpi.first.units.Units.Radians; +import static edu.wpi.first.units.Units.Rotation; import static edu.wpi.first.units.Units.RotationsPerSecond; import static edu.wpi.first.units.Units.Volts; @@ -186,6 +187,14 @@ public Command runTower(AngularVelocity velocity) { return Commands.run(() -> runFeeder(velocity), this); } + public Command fireDeezNutz() { + return Commands.run(() -> {runFeeder(RotationsPerSecond.of(30)); setFlywheelVelocity(RotationsPerSecond.of(67));}); + } + + public Command stopDeezNutz() { + return Commands.run(() -> {runFeeder(RotationsPerSecond.of(0)); setFlywheelVelocity(RotationsPerSecond.of(0));}); + } + public void simShoot() { if (Robot.robotContainer.intake.simBalls <= 0) return; From e16c8b893242251df9636bd381bc4714b5ff1ed4 Mon Sep 17 00:00:00 2001 From: Ghost <145223182+GhostR406@users.noreply.github.com> Date: Thu, 19 Mar 2026 19:52:50 -0400 Subject: [PATCH 2/2] Rename --- src/main/java/frc/robot/RobotContainer.java | 4 ++-- src/main/java/frc/robot/subsystems/Shooter.java | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 011d120..9cc0c4d 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -377,14 +377,14 @@ private void configureButtonBindings() { .leftBumper() .whileTrue( Commands.parallel( - shooter.fireDeezNutz(), + shooter.score(), hopper.runSpindexer(RotationsPerSecond.of(15)), intake.intake())); controller .leftBumper() .onFalse( Commands.parallel( - shooter.stopDeezNutz(), + shooter.stopScore(), hopper.runSpindexer(RotationsPerSecond.of(0)), Commands.run(() -> intake.stop()))); diff --git a/src/main/java/frc/robot/subsystems/Shooter.java b/src/main/java/frc/robot/subsystems/Shooter.java index 6404b7f..31926ec 100644 --- a/src/main/java/frc/robot/subsystems/Shooter.java +++ b/src/main/java/frc/robot/subsystems/Shooter.java @@ -187,11 +187,11 @@ public Command runTower(AngularVelocity velocity) { return Commands.run(() -> runFeeder(velocity), this); } - public Command fireDeezNutz() { + public Command score() { return Commands.run(() -> {runFeeder(RotationsPerSecond.of(30)); setFlywheelVelocity(RotationsPerSecond.of(67));}); } - public Command stopDeezNutz() { + public Command stopScore() { return Commands.run(() -> {runFeeder(RotationsPerSecond.of(0)); setFlywheelVelocity(RotationsPerSecond.of(0));}); }