Algae code (Untested, WIP)

team4909 · Jan 18, 2025 · a583a5d · a583a5d
1 parent 404d66c
commit a583a5d
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Showing 6 changed files with 13 additions and 7 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -96,7 +96,10 @@ private void configureBindings() {
     joystick.rightBumper().onTrue(s_Elevator.goToL3()).onFalse(s_Elevator.stop());
     joystick.leftTrigger().onTrue(s_Elevator.goToL4()).onFalse(s_Elevator.stop());
 
-    joystick.povUp().whileTrue(s_Algae.shootAlgae()).onFalse(s_Algae.stop());
+    joystick.povUp().whileTrue(s_Algae.shootAlgae
+
+
+    ()).onFalse(s_Algae.stop());
     joystick.povDown().whileTrue(s_Algae.intake()).onFalse(s_Algae.stop());
 
     // joystick.povUp().whileTrue(s_Elevator.moveUp()).onFalse(s_Elevator.stop());

diff --git a/src/main/java/frc/robot/subsystems/algae/Algae.java b/src/main/java/frc/robot/subsystems/algae/Algae.java
@@ -12,15 +12,15 @@ public Algae(AlgaeIO io) {
       }
 
     public Command shootAlgae() {
-        return this.run(() -> m_io.setSpeed(-0.1));
+        return this.runOnce(() -> m_io.setSpeed(1));
   }
 
     public Command stop() {
-        return this.run(() -> m_io.setSpeed(0));
+        return this.runOnce(() -> m_io.setSpeed(0));
   }
 
     public Command intake() {
-        return this.run(() -> m_io.setSpeed(1));
+        return this.runOnce(() -> m_io.setSpeed(-1));
   }
 }
 
diff --git a/src/main/java/frc/robot/subsystems/algae/AlgaeIO.java b/src/main/java/frc/robot/subsystems/algae/AlgaeIO.java
@@ -1,7 +1,9 @@
 package frc.robot.subsystems.algae;
 
+import org.littletonrobotics.junction.AutoLog;
+
 public interface AlgaeIO {
-
+    @AutoLog
     public static class AlgaeIOInputs {
         public double speed = 0.0;
       }

diff --git a/src/main/java/frc/robot/subsystems/elevator/Elevator.java b/src/main/java/frc/robot/subsystems/elevator/Elevator.java
@@ -18,7 +18,7 @@ public class Elevator extends SubsystemBase {
     private final double L1Setpoint = 29;
     private final double L2Setpoint = 32.5;
     private final double L3Setpoint = 51.5;
-    private final double L4Setpoint = 76;
+    private final double L4Setpoint = 75;
     //inch to rotations of the motor
     final double m_gearRatio = 0.5 * (1d / (1.75100 * Math.PI)) * ( 2d / 3d ) * 25;
 

diff --git a/src/main/java/frc/robot/subsystems/elevator/ElevatorIOTalonFX.java b/src/main/java/frc/robot/subsystems/elevator/ElevatorIOTalonFX.java
@@ -42,6 +42,7 @@ public ElevatorIOTalonFX() {
         final TalonFXConfiguration elevatorMotorConfig = new TalonFXConfiguration();
         final MotorOutputConfigs outputConfigs = new MotorOutputConfigs();
         outputConfigs.Inverted = InvertedValue.Clockwise_Positive;
+        outputConfigs.NeutralMode = NeutralModeValue.Brake;
         elevatorMotorConfig.CurrentLimits.SupplyCurrentLimit = 40.0;
         elevatorMotorConfig.CurrentLimits.SupplyCurrentLimitEnable = true;
         // in init function, set slot 0 gains

diff --git a/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
@@ -15,7 +15,7 @@ public Command shootL2() {
   }
 
   public Command shootTrough() {
-    return this.run(() -> m_io.setSpeed(-0.1));
+    return this.run(() -> m_io.setSpeed(-0.2));
   }
 
   public Command stop() {