Merge branch 'preDistrictComp' of https://github.com/DevilBotz2876/Cr…

…escendo2024 into preDistrictComp_driveToAmp
DevilBotz2876 · Apr 2, 2024 · ae56cd5 · ae56cd5
2 parents 7cab942 + e98fcba
commit ae56cd5
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Showing 3 changed files with 8 additions and 4 deletions.
diff --git a/src/main/java/frc/robot/config/RobotConfigInferno.java b/src/main/java/frc/robot/config/RobotConfigInferno.java
@@ -132,8 +132,8 @@ public RobotConfigInferno() {
             "shooter",
             "1188",
             new Transform3d(
-                new Translation3d(-Units.inchesToMeters(10.5), 0, Units.inchesToMeters(13)),
-                new Rotation3d(0, Units.degreesToRadians(-28), Units.degreesToRadians(180)))));
+                new Translation3d(-Units.inchesToMeters(9.5), 0, Units.inchesToMeters(14)),
+                new Rotation3d(0, Units.degreesToRadians(-32), Units.degreesToRadians(180)))));
 
     cameras.add(
         new VisionCamera(

diff --git a/src/main/java/frc/robot/subsystems/intake/IntakeIOSparkMax.java b/src/main/java/frc/robot/subsystems/intake/IntakeIOSparkMax.java
@@ -15,6 +15,7 @@ public class IntakeIOSparkMax implements IntakeIO {
   // Gets the NEO encoder
   private final RelativeEncoder encoder;
   DigitalInput limitSwitchIntake = new DigitalInput(1);
+  DigitalInput limitSwitchIntakeSecondary = new DigitalInput(2);
 
   public IntakeIOSparkMax(int id, boolean inverted) {
     leader = new CANSparkMax(id, MotorType.kBrushless);
@@ -31,7 +32,10 @@ public IntakeIOSparkMax(int id, boolean inverted) {
   @Override
   public void updateInputs(IntakeIOInputs inputs) {
     inputs.appliedVolts = leader.getAppliedOutput() * leader.getBusVoltage();
-    inputs.limitSwitchIntake = !limitSwitchIntake.get();
+    inputs.limitSwitchIntake =
+        !limitSwitchIntake.get()
+            || !limitSwitchIntakeSecondary
+                .get(); // Assume note in intake if either sensor is triggered
     inputs.current = leader.getOutputCurrent();
     inputs.velocityRadPerSec =
         Units.rotationsPerMinuteToRadiansPerSecond(encoder.getVelocity() / GEAR_RATIO);

diff --git a/src/main/java/frc/robot/util/DevilBotState.java b/src/main/java/frc/robot/util/DevilBotState.java
@@ -137,7 +137,7 @@ public enum SpeakerShootingMode {
     SPEAKER_VISION_BASED,
   }
 
-  private static SpeakerShootingMode shootingMode = SpeakerShootingMode.SPEAKER_FROM_SUBWOOFER;
+  private static SpeakerShootingMode shootingMode = SpeakerShootingMode.SPEAKER_VISION_BASED;
 
   public static void setShootingMode(SpeakerShootingMode position) {
     DevilBotState.shootingMode = position;