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Literally everything #12

Merged
merged 16 commits into from
Dec 22, 2023
Merged

Literally everything #12

merged 16 commits into from
Dec 22, 2023

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mimizh2418
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Integrated all code, everything works except for autos which are untested, but they should also work with light testing

rutmanz
rutmanz previously approved these changes Dec 18, 2023
@@ -71,7 +71,7 @@ public static class ShooterConstants {
public static final double KV = 0.113;

public static final double ERROR_TOLERANCE_RPM = 30;
public static final double SHOOTER_ACTIVE_RPM = 3218;
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🐈‍⬛

@rutmanz rutmanz dismissed their stale review December 18, 2023 02:18

oops didn't do the whole thing


private final CommandXboxController xBoxController;

private final SlewRateLimiter leftRateLimiter = new SlewRateLimiter(5);
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0 to 100 in 1/5th of a second actually limits something?

@Override
public void execute() {
Rotation2d turretSetpoint = Rotation2d.fromDegrees(limelight.getTx()).plus(turret.getPosition());
if (limelight.getTv() && turret.isAtSetpoint()) turret.autoSetPosition(turretSetpoint);
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why only updating setpoint if at last setpoint?

@@ -36,8 +36,10 @@ public DrivetrainIOReal() {
backLeft.setSmartCurrentLimit(DrivetrainConstants.DRIVETRAIN_MOTOR_CURRENT_LIMIT);
backRight.setSmartCurrentLimit(DrivetrainConstants.DRIVETRAIN_MOTOR_CURRENT_LIMIT);

frontLeft.enableVoltageCompensation(12);
frontRight.enableVoltageCompensation(12);
frontRight.disableVoltageCompensation();
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voltage compensation was an issue?

private final PositionVoltage positionVoltage = new PositionVoltage(0).withSlot(0);
private final MotionMagicVoltage MMVoltage = new MotionMagicVoltage(0).withSlot(0);
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MM acts like a position setpoint?

@mimizh2418 mimizh2418 merged commit 20c5793 into main Dec 22, 2023
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3 participants