From be930ed505bfeba06edcfcaaba313d7a0166a6d7 Mon Sep 17 00:00:00 2001 From: Sahiltheram Date: Sat, 24 Feb 2024 14:06:40 -0500 Subject: [PATCH 1/2] Made the ramp not go back to previous position when telop is enabled --- src/main/java/frc/robot/Robot.java | 2 ++ src/main/java/frc/robot/commands/ramp/RampMove.java | 2 +- 2 files changed, 3 insertions(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 7a6fd0ca..eeb5d93e 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -13,6 +13,7 @@ import frc.robot.commands.deployer.RaiseDeployer; import frc.robot.commands.drivetrain.ResetGyro; import frc.robot.commands.drivetrain.WheelAlign; +import frc.robot.commands.ramp.RampMove; import frc.robot.commands.ramp.ResetRamp; import frc.robot.constants.Constants; import frc.robot.utils.diag.Diagnostics; @@ -75,6 +76,7 @@ public void teleopInit() { autonomousCommand.cancel(); } new RaiseDeployer(robotContainer.getDeployer()).schedule(); + new RampMove(robotContainer.getRamp(), ()->0).schedule(); } @Override diff --git a/src/main/java/frc/robot/commands/ramp/RampMove.java b/src/main/java/frc/robot/commands/ramp/RampMove.java index fbb9db15..92025417 100644 --- a/src/main/java/frc/robot/commands/ramp/RampMove.java +++ b/src/main/java/frc/robot/commands/ramp/RampMove.java @@ -28,6 +28,6 @@ public void execute() { @Override public boolean isFinished() { - return true; + return true; } } From 001e4ef7e7d548132d1fabd3b01ae6ecbf0a8c36 Mon Sep 17 00:00:00 2001 From: Sahiltheram Date: Tue, 27 Feb 2024 19:13:48 -0500 Subject: [PATCH 2/2] Resolved Comments --- src/main/java/frc/robot/commands/ramp/RampMove.java | 2 +- src/main/java/frc/robot/constants/Constants2023.java | 3 --- src/main/java/frc/robot/constants/Constants2024.java | 3 --- src/main/java/frc/robot/constants/ConstantsTestbed.java | 3 --- 4 files changed, 1 insertion(+), 10 deletions(-) diff --git a/src/main/java/frc/robot/commands/ramp/RampMove.java b/src/main/java/frc/robot/commands/ramp/RampMove.java index 92025417..fbb9db15 100644 --- a/src/main/java/frc/robot/commands/ramp/RampMove.java +++ b/src/main/java/frc/robot/commands/ramp/RampMove.java @@ -28,6 +28,6 @@ public void execute() { @Override public boolean isFinished() { - return true; + return true; } } diff --git a/src/main/java/frc/robot/constants/Constants2023.java b/src/main/java/frc/robot/constants/Constants2023.java index 64dfde46..2edb5d59 100644 --- a/src/main/java/frc/robot/constants/Constants2023.java +++ b/src/main/java/frc/robot/constants/Constants2023.java @@ -32,9 +32,6 @@ public class Constants2023 extends GameConstants { public static final double SHOOTER_MOTOR_LOW_SPEED = 0.6; public static final double SHOOTER_MOTOR_HIGH_SPEED = 1; - public static final double SHOOTER_MOTOR_RIGHT_AMP_SPEED = 0.25; - public static final double SHOOTER_MOTOR_LEFT_AMP_SPEED = 0.25; - public static final double SHOOTER_MOTOR_1_RPM = 12000; public static final double SHOOTER_MOTOR_2_RPM = 12000; public static final double SHOOTER_TIME_AFTER_TRIGGER = 0.5; diff --git a/src/main/java/frc/robot/constants/Constants2024.java b/src/main/java/frc/robot/constants/Constants2024.java index 599d674a..4b38b38b 100644 --- a/src/main/java/frc/robot/constants/Constants2024.java +++ b/src/main/java/frc/robot/constants/Constants2024.java @@ -31,9 +31,6 @@ public class Constants2024 extends GameConstants { public static final int SHOOTER_SENSOR_ID_1 = 2; //needs to be changed public static final int SHOOTER_SENSOR_ID_2 = 1; //needs to be changed - public static final double SHOOTER_MOTOR_RIGHT_AMP_SPEED = 0.25; - public static final double SHOOTER_MOTOR_LEFT_AMP_SPEED = 0.25; - public static final double SHOOTER_MOTOR_LOW_SPEED = 0.6; public static final double SHOOTER_MOTOR_HIGH_SPEED = 1; diff --git a/src/main/java/frc/robot/constants/ConstantsTestbed.java b/src/main/java/frc/robot/constants/ConstantsTestbed.java index 5dd3add9..0eeacda1 100644 --- a/src/main/java/frc/robot/constants/ConstantsTestbed.java +++ b/src/main/java/frc/robot/constants/ConstantsTestbed.java @@ -33,9 +33,6 @@ public class ConstantsTestbed extends GameConstants { public static final double SHOOTER_MOTOR_LEFT_SPEED = 0.75; public static final double SHOOTER_MOTOR_RIGHT_SPEED = 0.75; - public static final double SHOOTER_MOTOR_RIGHT_AMP_SPEED = 0.25; - public static final double SHOOTER_MOTOR_LEFT_AMP_SPEED = 0.25; - public static final double SHOOTER_MOTOR_1_RPM = 12000; public static final double SHOOTER_MOTOR_2_RPM = 12000; public static final double SHOOTER_TIME_AFTER_TRIGGER = 0.5;