Merge branch 'main' into implement-new-climber-

FRCTeam3255 · Mar 17, 2024 · 336f457 · 336f457
2 parents c33ae6e + 0a68da7
commit 336f457
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Showing 3 changed files with 25 additions and 11 deletions.
diff --git a/src/main/java/frc/robot/RobotPreferences.java b/src/main/java/frc/robot/RobotPreferences.java
@@ -488,12 +488,12 @@ public static final class prefShooter {
     public static final SN_DoublePreference shooterUpToSpeedTolerance = new SN_DoublePreference(
         "shooterUpToSpeedTolerance", 0.7);
 
-    public static final SN_DoublePreference leftShooterIntakeVelocity = new SN_DoublePreference(
-        "leftShooterIntakeVelocity",
-        -10);
-    public static final SN_DoublePreference rightShooterIntakeVelocity = new SN_DoublePreference(
-        "rightShooterIntakeVelocity",
-        -10);
+    public static final SN_DoublePreference leftShooterIntakeVoltage = new SN_DoublePreference(
+        "leftShooterIntakeVoltage",
+        -3);
+    public static final SN_DoublePreference rightShooterIntakeVoltage = new SN_DoublePreference(
+        "rightShooterIntakeVoltage",
+        -3);
 
     /**
      * <b>Units:</b> Meters per second

diff --git a/src/main/java/frc/robot/commands/IntakeFromSource.java b/src/main/java/frc/robot/commands/IntakeFromSource.java
@@ -41,8 +41,8 @@ public IntakeFromSource(Shooter subShooter, Transfer subTransfer, Pitch subPitch
   public void initialize() {
     lastDesiredPitch = subPitch.getPitchAngle();
 
-    subShooter.setDesiredVelocities(prefShooter.leftShooterIntakeVelocity.getValue(),
-        prefShooter.rightShooterIntakeVelocity.getValue());
+    subShooter.setVoltage(prefShooter.leftShooterIntakeVoltage.getValue(),
+        prefShooter.rightShooterIntakeVoltage.getValue());
 
     subPitch.setPitchAngle(prefPitch.pitchSourceAngle.getValue());
     subTurret.setTurretAngle(prefTurret.turretIntakePos.getValue());
@@ -51,7 +51,6 @@ public void initialize() {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    subShooter.getUpToSpeed();
     subTransfer.setFeederMotorSpeed(prefTransfer.feederIntakeSourceSpeed.getValue());
     subTransfer.setTransferMotorSpeed(prefTransfer.transferIntakeSourceSpeed.getValue());
   }

diff --git a/src/main/java/frc/robot/subsystems/Shooter.java b/src/main/java/frc/robot/subsystems/Shooter.java
@@ -8,6 +8,7 @@
 import com.ctre.phoenix6.controls.MotionMagicVelocityVoltage;
 import com.ctre.phoenix6.controls.NeutralOut;
 import com.ctre.phoenix6.controls.VelocityVoltage;
+import com.ctre.phoenix6.controls.VoltageOut;
 import com.ctre.phoenix6.hardware.TalonFX;
 
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
@@ -26,7 +27,7 @@ public class Shooter extends SubsystemBase implements Logged {
   MotionMagicVelocityVoltage motionMagicRequest;
 
   VelocityVoltage velocityRequest;
-
+  VoltageOut voltageRequest;
   boolean leftInvert, rightInvert;
 
   @Log.NT
@@ -55,7 +56,7 @@ public Shooter() {
 
     rightInvert = (RobotContainer.isPracticeBot()) ? constShooter.pracBot.RIGHT_INVERT
         : constShooter.RIGHT_INVERT;
-
+    voltageRequest = new VoltageOut(0);
     velocityRequest = new VelocityVoltage(0).withSlot(0);
     motionMagicRequest = new MotionMagicVelocityVoltage(0);
 
@@ -103,6 +104,15 @@ public void getUpToSpeed() {
     }
   }
 
+  public void setLeftShooterIntakeVoltage(double voltage) {
+    leftMotor.setControl(voltageRequest.withOutput(voltage));
+
+  }
+
+  public void setRightShooterIntakeVoltage(double voltage) {
+    rightMotor.setControl(voltageRequest.withOutput(voltage));
+  }
+
   /**
    * Sets all of the shooting motors to neutral.
    */
@@ -170,6 +180,11 @@ public void setDesiredVelocities(double desiredLeftVelocity, double desiredRight
     setRightDesiredVelocity(desiredRightVelocity);
   }
 
+  public void setVoltage(double leftVoltage, double rightVoltage) {
+    setLeftShooterIntakeVoltage(leftVoltage);
+    setRightShooterIntakeVoltage(rightVoltage);
+  }
+
   public void setIgnoreFlywheelSpeed(boolean ignoreFlywheelSpeed) {
     this.ignoreFlywheelSpeed = ignoreFlywheelSpeed;
   }