vision shoot

src/main/java/frc/robot/RobotContainer.java

@@ -44,6 +44,7 @@
 import frc.robot.commands.Shooter.PidSetRpm;
 import frc.robot.commands.Shooter.ShooterModeChange;
 import frc.robot.commands.Shooter.ShooterSetDegree;
+import frc.robot.commands.Shooter.VisionShooter;
 import frc.robot.commands.Swerve.SwerveJoystickCmd;
 import frc.robot.commands.autonomous.AutoNoteShoot;
 import frc.robot.commands.common.FeedingPosition;
@@ -56,6 +57,7 @@
 import frc.robot.subsystems.FeederSubsystem;
 import frc.robot.subsystems.IntakeSubsystem;
 import frc.robot.subsystems.JoystickSubsystem;
+import frc.robot.subsystems.NetworkSubsystem;
 import frc.robot.subsystems.ShooterSubsystem;
 import frc.robot.subsystems.SwerveSubsystem; 
 //import edu.wpi.first.math.trajectory.TrajectoryGenerator;
@@ -69,8 +71,10 @@ public class RobotContainer {
         private final XboxController driverJoytick = new XboxController(1);
         private final XboxController subJoytick = new XboxController(3);
         private final FeederSubsystem m_feeder = new FeederSubsystem();
-        private final ArmSubsystem m_arm = new ArmSubsystem();
+         private final ArmSubsystem m_arm = new ArmSubsystem();
         private final JoystickSubsystem m_joystick = new JoystickSubsystem();
+        NetworkSubsystem m_network = new NetworkSubsystem();
+
         public int autonomous_case;
 
         public RobotContainer() {
@@ -150,8 +154,8 @@ private void configureBindings() {
 new JoystickButton(subJoytick, 2).whileFalse(new InstantCommand(()->m_intake.StopNoteMotor()));
 
 //buton 3 Shooter Manuel subbuffer
-new JoystickButton(subJoytick, 3).whileTrue(new ShooterSetDegree(m_shooter, ()->70.0));
-new JoystickButton(subJoytick, 3).whileTrue(new InstantCommand(()-> m_shooter.ShooterThrowMotorOutput(-0.9)));
+new JoystickButton(subJoytick, 3).whileTrue(new VisionShooter(m_shooter, m_network));
+    new JoystickButton(subJoytick, 3).whileTrue(new InstantCommand(()-> m_shooter.ShooterThrowMotorOutput(-0.9)));
 new JoystickButton(subJoytick, 3).whileFalse(new InstantCommand(()-> m_shooter.ShooterThrow1MotorStop()));
 new JoystickButton(subJoytick, 3).whileFalse(new InstantCommand(()-> m_shooter.ShooterThrow2MotorStop()));
 

src/main/java/frc/robot/commands/Shooter/VisionShooter.java

@@ -1,32 +1,35 @@
 package frc.robot.commands.Shooter;
 
-import java.util.function.DoubleSupplier;
 
 import edu.wpi.first.math.controller.PIDController;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.PIDCommand;
 import frc.robot.Constants;
 import frc.robot.subsystems.NetworkSubsystem;
 import frc.robot.subsystems.ShooterSubsystem;
 
 public class VisionShooter extends PIDCommand {
 
-  public VisionShooter(ShooterSubsystem m_shooter, NetworkSubsystem m_network , DoubleSupplier angle) {
+  public VisionShooter(ShooterSubsystem m_shooter, NetworkSubsystem m_network) {
     super(
 
-        new PIDController(0.04,
-            0.03,
+        new PIDController(0.004,
+            0,
             Constants.values.shooter.PidShooterAngleKD),
         () -> m_network.getY(),
-        () -> 0,
+        () -> -100,
         output -> {
-
-          m_shooter.ShooterAngleMotorOutput(output * -.13);
+         /*  try {
+            m_shooter.ShooterAngleMotorOutput(output * .13);
+            Thread.sleep(150); // 2 saniye durakla
+            m_shooter.ShooterAngleMotorStop();
+          } catch (InterruptedException e) {
+            e.printStackTrace();
+        }*/
+        m_shooter.ShooterAngleMotorOutput(output * .13);
 
         });
     addRequirements(m_shooter);
-    getController().setTolerance(Constants.values.shooter.PidShooterAngleTolerance);
-      SmartDashboard.putNumber("pid shooter gonderilen pozisyon", angle.getAsDouble());
+    getController().setTolerance(5);
 
   }
 

src/main/java/frc/robot/subsystems/NetworkSubsystem.java

@@ -3,15 +3,18 @@
 
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.ConnectionInfo;
+// import edu.wpi.first.networktables.
 import edu.wpi.first.networktables.NetworkTableEntry;
 import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
 public class NetworkSubsystem extends SubsystemBase {
 
   double apriltag_x_value;
   double apriltag_y_value;
 
-  public NetworkTableInstance inst = NetworkTableInstance.create();
+  public NetworkTableInstance inst = NetworkTableInstance.getDefault();
   //table
   public NetworkTable table = inst.getTable("vision");
 
@@ -23,7 +26,9 @@ public class NetworkSubsystem extends SubsystemBase {
   public NetworkTableEntry apriltag_y = networkTable.getEntry("apriltag_y");
 
   public NetworkSubsystem() {
-    inst.startServer("10.76.72.2");
+   // inst.setServerTeam(7672);
+    //inst.startServer("10.76.72.2");
+    inst.setServerTeam(7672);
   }
 
   public double getX(){
@@ -38,6 +43,9 @@ public double getY(){
   public void periodic() {
     apriltag_x_value = apriltag_x.getDouble(0.0);
     apriltag_y_value = apriltag_y.getDouble(0.0);
+    SmartDashboard.putNumber("apriltag x value", apriltag_x_value);
+    SmartDashboard.putNumber("apriltag y value", apriltag_y_value);
+    SmartDashboard.putBoolean("connection",inst.isConnected());
   }