Merge branch 'master' of https://github.com/FRC830/2024Robot

FRC830 · Feb 21, 2024 · ba4f518 · ba4f518
2 parents 224e00e + 48560f8
commit ba4f518
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Showing 5 changed files with 28 additions and 44 deletions.
diff --git a/src/main/cpp/subsystems/IntakeHAL.cpp b/src/main/cpp/subsystems/IntakeHAL.cpp
@@ -8,6 +8,8 @@ IntakeHAL::IntakeHAL(){
  m_RGTActMotor.RestoreFactoryDefaults();
  m_RGTPvtMotor.RestoreFactoryDefaults();
 
+ m_LFTActMotor.SetInverted(INVERT_INTAKE_ACT);
+
  m_RGTActMotor.Follow(m_LFTActMotor, true);
  m_RGTPvtMotor.Follow(m_LFTPvtMotor, false);
 
@@ -33,6 +35,7 @@ IntakeHAL::IntakeHAL(){
 
  m_LFTPvtAbsEncoder.SetInverted(LFT_PVT_ABS_ENC_INVERTED);
  m_LFTPvtAbsEncoder.SetPositionConversionFactor(LFT_PVT_ABS_ENC_CONVERSION_FACTOR);
+ m_LFTPvtAbsEncoder.SetZeroOffset(INTAKE_ZERO_OFFSET);
 
  m_LFTPvtMotor.SetInverted(LFT_PVT_MTR_INVERTED);
 

diff --git a/src/main/cpp/subsystems/LauncherHAL.cpp b/src/main/cpp/subsystems/LauncherHAL.cpp
@@ -15,7 +15,7 @@ LauncherHAL::LauncherHAL()
 
  m_PvtAbsEncoder.SetInverted(true);
  m_PvtAbsEncoder.SetPositionConversionFactor(LAUNCHER_PVT_ABS_ENC_CONVERSION_FACTOR);
- m_PvtAbsEncoder.SetZeroOffset(ZERO_OFFSET);
+ m_PvtAbsEncoder.SetZeroOffset(LAUNCHER_ZERO_OFFSET);
 
  m_PvtPID.SetFeedbackDevice(m_PvtAbsEncoder);
 

diff --git a/src/main/cpp/subsystems/SmartIntake.cpp b/src/main/cpp/subsystems/SmartIntake.cpp
@@ -11,8 +11,8 @@ SmartIntake::SmartIntake()
  m_SwitchModeFlag = false;
  m_prevSwitchMode = false;
 
- m_IntakeState = 0;
- m_OutTakeState = 0;
+ m_IntakeState = 10000;
+ m_OutTakeState = 10000;
 }
 
 void SmartIntake::HandleInput(RobotControlData& input){
@@ -62,20 +62,10 @@ void SmartIntake::HandleInput(RobotControlData& input){
  case 2:
  {
  input.intakeInput.runIntakeIn = true;
- if (input.smartIntakeInput.laser){
- input.intakeInput.runIntakeIn = false;
- input.intakeInput.goToPseudoStowPos = true;
- ++m_IntakeState;
- }
-
- }
- break;
- case 3:
- {
- input.intakeInput.goToPseudoStowPos = false;
- if (input.intakeOutput.intakePos == IntakePos::PSEUDO_STOW)
+ if (input.smartIntakeInput.laser)
  {
- ++m_IntakeState;
+ m_SmartIntakeFlag = false;
+ m_IntakeState = 0;
  }
  }
  break;
@@ -89,10 +79,9 @@ void SmartIntake::HandleInput(RobotControlData& input){
  {
  case 0:
  {
- /* code */
- input.intakeInput.runIntakeIn = false;
- input.intakeInput.goToPseudoStowPos = true;
- ++m_IntakeState;
+ input.intakeInput.runIntakeIn = false;
+ input.intakeInput.goToPseudoStowPos = true;
+ ++m_IntakeState;
  }
  break;
  case 1:
@@ -133,20 +122,10 @@ void SmartIntake::HandleInput(RobotControlData& input){
  case 2:
  {
  input.intakeInput.runIntakeOut = true;
- if (input.smartIntakeInput.laser){
- input.intakeInput.runIntakeOut = false;
- input.intakeInput.goToPseudoStowPos = true;
- ++m_OutTakeState;
- }
-
- }
- break;
- case 3:
- {
- input.intakeInput.goToPseudoStowPos = false;
- if (input.intakeOutput.intakePos == IntakePos::PSEUDO_STOW)
+ if (input.smartIntakeInput.laser)
  {
- ++m_OutTakeState;
+ m_SmartOutTakeFlag = false;
+ m_OutTakeState = 0;
  }
  }
  break;
@@ -160,11 +139,10 @@ void SmartIntake::HandleInput(RobotControlData& input){
  switch (m_OutTakeState)
  {
  case 0:
- {
- /* code */
- input.intakeInput.runIntakeOut = false;
- input.intakeInput.goToPseudoStowPos = true;
- ++m_OutTakeState;
+ { 
+ input.intakeInput.runIntakeOut = false;
+ input.intakeInput.goToPseudoStowPos = true;
+ ++m_OutTakeState;
  }
  break;
  case 1:
@@ -181,7 +159,7 @@ void SmartIntake::HandleInput(RobotControlData& input){
  }
  }
 
-  // needs to go at the bottom
+ // needs to go at the bottom
  m_prevSmartIntake = input.smartIntakeInput.smartIntake;
  m_prevSmartOutTake = input.smartIntakeInput.smartOutTake;
  m_prevSwitchMode = input.smartIntakeInput.switchMode;

diff --git a/src/main/cpp/subsystems/subsystemManagers/IntakeManager.cpp b/src/main/cpp/subsystems/subsystemManagers/IntakeManager.cpp
@@ -3,10 +3,10 @@
 namespace
 {
  const double NORMAL_INTAKE_SPEED = 0.95;
- const double AMP_POS = 72.686;
- const double GROUND_POS = 182.953;
- const double STOW_POS = 119.375;
- const double PSEUDO_STOW_POS = 153.105;
+ const double AMP_POS = 19.361;
+ const double GROUND_POS = 132.056;
+ const double STOW_POS = 68.144;
+ const double PSEUDO_STOW_POS = 104.671;
 }
 
 void IntakeManager::ResetIntake()

diff --git a/src/main/include/subsystems/SubSystemConfig.h b/src/main/include/subsystems/SubSystemConfig.h
@@ -36,11 +36,14 @@ const int INTAKE_ACT_CURRENT_LIMIT = 40;
 
 const double INTAKE_MAX_VEL = 60.0;
 const double INTAKE_ACCEL = 30.0;
+const double INTAKE_ZERO_OFFSET = 299.92;
 
 const bool LFT_PVT_ABS_ENC_INVERTED = false;
 const double LFT_PVT_ABS_ENC_CONVERSION_FACTOR = 360.0;
 const bool LFT_PVT_MTR_INVERTED = true;
 
+const bool INVERT_INTAKE_ACT = true;
+
 // ###########################################################
 // # LAUNCHER #
 // ###########################################################
@@ -64,7 +67,7 @@ const int LAUNCHER_IND_CURRENT_LIMIT = 28;
 const bool INVERT_FLYWHEEL = true;
 
 const double LAUNCHER_PVT_ABS_ENC_CONVERSION_FACTOR = 80.0;
-const double ZERO_OFFSET = 13.501;
+const double LAUNCHER_ZERO_OFFSET = 13.501;
 
 const double MAX_PIVOT_ANGLE = 75.0;
 const double MIN_PIVOT_ANGLE = 5.0;