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Change configs for new back right module #180

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Change configs for new back right module #180

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e1f8175
change configs for new back right modukle
Sep 21, 2022
72ae78f
spotless
jbko6 Oct 7, 2022
ac004ab
presets
Oct 15, 2022
02238ee
Merge branch 'main' of https://github.com/jbko6/RapidReact2022
Oct 15, 2022
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8 changes: 4 additions & 4 deletions src/main/java/frc/team2412/robot/Controls.java
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Original file line number Diff line number Diff line change
Expand Up @@ -145,12 +145,12 @@ public void bindShooterControls() {
BooleanSupplier b = driveController.getDPadButton(Direction.UP)::get;

driveController.getDPadButton(Direction.DOWN).whenPressed(
new ShooterHoodRPMCommand(subsystems.shooterSubsystem, 1400, 35).withInterrupt(b)
.alongWith(new InstantCommand(() -> subsystems.shooterSubsystem.setTurretAngle(-90))));
new ShooterHoodRPMCommand(subsystems.shooterSubsystem, 2030, 6.3).withInterrupt(b)
.alongWith(new InstantCommand(() -> subsystems.shooterSubsystem.setTurretAngle(90))));

driveController.getDPadButton(Direction.LEFT).whenPressed(
new ShooterHoodRPMCommand(subsystems.shooterSubsystem, 2400, 9.3).withInterrupt(b)
.alongWith(new InstantCommand(() -> subsystems.shooterSubsystem.setTurretAngle(-90))));
new ShooterHoodRPMCommand(subsystems.shooterSubsystem, 2075, 18.7).withInterrupt(b)
.alongWith(new InstantCommand(() -> subsystems.shooterSubsystem.setTurretAngle(90))));

driveController.getDPadButton(Direction.RIGHT).whenPressed(
new ShooterHoodRPMCommand(subsystems.shooterSubsystem, 0, 0).withInterrupt(b)
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7 changes: 4 additions & 3 deletions src/main/java/frc/team2412/robot/Hardware.java
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Expand Up @@ -13,17 +13,18 @@ public class Hardware {
DRIVETRAIN_BACK_LEFT_ANGLE_MOTOR = 8, DRIVETRAIN_BACK_RIGHT_ANGLE_MOTOR = 11;
public static final int DRIVETRAIN_FRONT_LEFT_ENCODER_PORT = 3, DRIVETRAIN_FRONT_RIGHT_ENCODER_PORT = 6,
DRIVETRAIN_BACK_LEFT_ENCODER_PORT = 9, DRIVETRAIN_BACK_RIGHT_ENCODER_PORT = 12;
public static final double DRIVETRAIN_FRONT_LEFT_ENCODER_OFFSET = -Math.toRadians(67.852);
public static final double DRIVETRAIN_FRONT_LEFT_ENCODER_OFFSET = -Math.toRadians(67.85156);
public static final double DRIVETRAIN_FRONT_RIGHT_ENCODER_OFFSET = -Math.toRadians(221.924);
public static final double DRIVETRAIN_BACK_LEFT_ENCODER_OFFSET = -Math.toRadians(214.980);
public static final double DRIVETRAIN_BACK_RIGHT_ENCODER_OFFSET = -Math.toRadians(168.398);
public static final double DRIVETRAIN_BACK_LEFT_ENCODER_OFFSET = -Math.toRadians(214.892578);
public static final double DRIVETRAIN_BACK_RIGHT_ENCODER_OFFSET = -Math.toRadians(168.310547 + 90);
public static final String DRIVETRAIN_INTAKE_CAN_BUS_NAME = "DrivebaseIntake";

// Changes swerve modules & disables subsystems missing from the swerve test bot
private static final Mk4SwerveModuleHelper.GearRatio GEAR_RATIO;

static {
GEAR_RATIO = Robot.getInstance().isCompetition()

? Mk4SwerveModuleHelper.GearRatio.L2
: Mk4SwerveModuleHelper.GearRatio.L1;
}
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