tune setpoints dp

team4909 · Jan 22, 2025 · 85040aa · 85040aa
1 parent bf96ff2
commit 85040aa
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Showing 2 changed files with 28 additions and 10 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -73,7 +73,7 @@ private void configureBindings() {
                             * MaxAngularRate) // Drive counterclockwise with negative X (left)
             ));
 
-    joystick.a().whileTrue(drivetrain.applyRequest(() -> brake));
+    //joystick.a().whileTrue(drivetrain.applyRequest(() -> brake));
     // joystick
     //     .b()
     //     .whileTrue(
@@ -82,18 +82,22 @@ private void configureBindings() {
     //                 point.withModuleDirection(
     //                     new Rotation2d(-joystick.getLeftY(), -joystick.getLeftX()))));
 
-    joystick.rightTrigger().whileTrue(s_Shooter.shootL2()).onFalse(s_Shooter.stop());
+    joystick.rightTrigger().whileTrue(s_Shooter.shootTrough()).onFalse(s_Shooter.stop());
     joystick.y().whileTrue(s_Shooter.intake()).onFalse(s_Shooter.stop());
-    joystick.a().whileTrue(s_Shooter.shootTrough()).onFalse(s_Shooter.stop());
+    // joystick.a().whileTrue(s_Shooter.shootTrough()).onFalse(s_Shooter.stop());
 
     joystick.b().onTrue(s_Elevator.goToL1()).onFalse(s_Elevator.stop());
-    joystick.leftBumper().onTrue(s_Elevator.goToL2
-    ()).onFalse(s_Elevator.stop());
-    joystick.rightBumper().onTrue(s_Elevator.goToL3()).onFalse(s_Elevator.stop());
-    joystick.leftTrigger().onTrue(s_Elevator.goToL4()).onFalse(s_Elevator.stop());
+    joystick.leftBumper().onTrue(s_Elevator.goToL2()).onFalse(s_Elevator.goToL1());
+    joystick.rightBumper().onTrue(s_Elevator.goToL3()).onFalse(s_Elevator.goToL1());
+    joystick.leftTrigger().onTrue(s_Elevator.goToL4()).onFalse(s_Elevator.goToL1());
     joystick.povUp().whileTrue(s_Elevator.moveUp()).onFalse(s_Elevator.stop());
     joystick.povDown().whileTrue(s_Elevator.moveDown()).onFalse(s_Elevator.stop());
-    joystick.povLeft().onTrue(s_Elevator.reZero());
+    joystick.back().onTrue(s_Elevator.reZero());
+    joystick.x().onTrue(s_Elevator.goToL3A()).onFalse(s_Elevator.goToL1());
+    joystick.a().onTrue(s_Elevator.goToL2A()).onFalse(s_Elevator.goToL1());
+
+
+
 
     // Run SysId routines when holding back/start and X/Y.
     // Note that each routine should be run exactly once in a single log.

diff --git a/src/main/java/frc/robot/subsystems/elevator/Elevator.java b/src/main/java/frc/robot/subsystems/elevator/Elevator.java
@@ -19,8 +19,10 @@ public class Elevator extends SubsystemBase {
     private final ElevatorIO m_io;
     private final double L1Setpoint = 29;
     private final double L2Setpoint = 32.5;
-    private final double L3Setpoint = 51.5;
-    private final double L4Setpoint = 75;
+    private final double L3Setpoint = 48.5;
+    private final double L4Setpoint = 74.5;
+    private final double L2ASetpoint = 37.5; 
+    private final double L3ASetpoint = 54;
     //inch to rotations of the motor
     final double m_gearRatio = 0.5 * (1d / (1.75100 * Math.PI)) * ( 2d / 3d ) * 25;
 
@@ -65,6 +67,18 @@ public Command goToL4(){
             m_io.gotosetpoint(L4Setpoint, m_gearRatio);
         }).withName("L4");
       }
+      public Command goToL3A(){
+        // return  this.run(() -> m_io.gotosetpoint(L1Setpoint,m_gearRatio));
+        return this.runOnce(() -> {
+            m_io.gotosetpoint(L3ASetpoint, m_gearRatio);
+        }).withName("L3A");
+      }
+      public Command goToL2A(){
+        // return  this.run(() -> m_io.gotosetpoint(L1Setpoint,m_gearRatio));
+        return this.runOnce(() -> {
+            m_io.gotosetpoint(L2ASetpoint, m_gearRatio);
+        }).withName("L2A");
+      }
       public Command reZero(){
         return this.runOnce(() -> {
             m_io.setPosition(L1Setpoint*m_gearRatio);