drive

Mechanical-Advantage · Feb 5, 2024 · b14bff3 · b14bff3
1 parent 4adc213
commit b14bff3
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Showing 6 changed files with 11 additions and 36 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -27,7 +27,7 @@
  */
 public final class Constants {
   public static final int loopPeriodMs = 20;
-  private static RobotType robotType = RobotType.SIMBOT;
+  private static RobotType robotType = RobotType.RAINBOWT;
   public static final boolean tuningMode = true;
 
   private static boolean invalidRobotAlertSent = false;

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -15,7 +15,6 @@
 
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
-import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.wpilibj.Filesystem;
 import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.XboxController;
@@ -25,17 +24,13 @@
 import frc.robot.commands.DriveCommands;
 import frc.robot.commands.FeedForwardCharacterization;
 import frc.robot.subsystems.apriltagvision.AprilTagVision;
-import frc.robot.subsystems.apriltagvision.AprilTagVisionConstants;
-import frc.robot.subsystems.apriltagvision.AprilTagVisionIONorthstar;
 import frc.robot.subsystems.drive.*;
 import frc.robot.subsystems.superstructure.intake.Intake;
 import frc.robot.subsystems.superstructure.intake.IntakeIO;
 import frc.robot.subsystems.superstructure.intake.IntakeIOSim;
-import frc.robot.subsystems.superstructure.intake.IntakeIOSparkMax;
 import frc.robot.subsystems.superstructure.shooter.Shooter;
 import frc.robot.subsystems.superstructure.shooter.ShooterIO;
 import frc.robot.subsystems.superstructure.shooter.ShooterIOSim;
-import frc.robot.subsystems.superstructure.shooter.ShooterIOSparkMax;
 import frc.robot.util.AllianceFlipUtil;
 import frc.robot.util.trajectory.ChoreoTrajectoryReader;
 import frc.robot.util.trajectory.Trajectory;
@@ -82,11 +77,12 @@ public RobotContainer() {
                     new ModuleIOSparkMax(DriveConstants.moduleConfigs[2]),
                     new ModuleIOSparkMax(DriveConstants.moduleConfigs[3]),
                     false);
-            aprilTagVision =
-                new AprilTagVision(
-                    new AprilTagVisionIONorthstar(AprilTagVisionConstants.cameraNames[0]));
-            shooter = new Shooter(new ShooterIOSparkMax());
-            intake = new Intake(new IntakeIOSparkMax());
+            //            aprilTagVision =
+            //                new AprilTagVision(
+            //                    new
+            // AprilTagVisionIONorthstar(AprilTagVisionConstants.cameraNames[0]));
+            //            shooter = new Shooter(new ShooterIOSparkMax());
+            //            intake = new Intake(new IntakeIOSparkMax());
           }
         }
       }
@@ -199,27 +195,6 @@ private void configureButtonBindings() {
             () -> -controller.getLeftY(),
             () -> -controller.getLeftX(),
             () -> -controller.getRightX()));
-    controller
-        .a()
-        .whileTrue(
-            drive.autoAlignToPose(
-                () ->
-                    AllianceFlipUtil.apply(
-                        new Pose2d(
-                            new Translation2d(
-                                FieldConstants.ampCenter.getX(),
-                                FieldConstants.ampCenter.getY()
-                                    - DriveConstants.driveConfig.trackwidthY() / 2.0),
-                            new Rotation2d(-Math.PI / 2.0)))));
-    //    controller.a().onTrue(DriveCommands.toggleCalculateShotWhileMovingRotation(drive));
-    //    controller
-    //        .a()
-    //        .onTrue(Commands.either(intake.stopCommand(), intake.intakeCommand(),
-    // intake::running));
-    //    controller
-    //        .x()
-    //        .onTrue(Commands.either(intake.stopCommand(), intake.ejectCommand(),
-    // intake::running));
     controller
         .b()
         .onTrue(

diff --git a/src/main/java/frc/robot/commands/DriveCommands.java b/src/main/java/frc/robot/commands/DriveCommands.java
@@ -22,8 +22,8 @@
 import frc.robot.RobotState;
 import frc.robot.subsystems.drive.Drive;
 import frc.robot.subsystems.drive.DriveConstants;
-import frc.robot.subsystems.superstructure.ShotCalculator;
 import frc.robot.util.AllianceFlipUtil;
+import frc.robot.util.shooting.ShotCalculator;
 import java.util.function.DoubleSupplier;
 import java.util.function.Supplier;
 

diff --git a/src/main/java/frc/robot/commands/auto/AutoCommands.java b/src/main/java/frc/robot/commands/auto/AutoCommands.java
@@ -7,9 +7,9 @@
 import edu.wpi.first.wpilibj2.command.Commands;
 import frc.robot.FieldConstants;
 import frc.robot.RobotState;
-import frc.robot.subsystems.superstructure.ShotCalculator;
 import frc.robot.subsystems.superstructure.intake.Intake;
 import frc.robot.util.AllianceFlipUtil;
+import frc.robot.util.shooting.ShotCalculator;
 import java.util.function.Supplier;
 
 public class AutoCommands {

diff --git a/src/main/java/frc/robot/subsystems/drive/DriveConstants.java b/src/main/java/frc/robot/subsystems/drive/DriveConstants.java
@@ -18,7 +18,7 @@ public final class DriveConstants {
 
   // For Kraken
   public static class KrakenDriveConstants {
-    public static final boolean useTorqueCurrentFOC = true;
+    public static final boolean useTorqueCurrentFOC = false;
     public static final boolean useMotionMagic = false;
     public static final double motionMagicCruiseVelocity = 0.0;
     public static final double motionMagicAcceleration = 0.0;

diff --git a/...ystems/superstructure/ShotCalculator.java → ...c/robot/util/shooting/ShotCalculator.java b/...ystems/superstructure/ShotCalculator.java → ...c/robot/util/shooting/ShotCalculator.java
@@ -1,4 +1,4 @@
-package frc.robot.subsystems.superstructure;
+package frc.robot.util.shooting;
 
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.geometry.Translation2d;