Adds Slow Mode (Untested)

team4909 · Jan 20, 2025 · b5b9cf5 · b5b9cf5
1 parent bf96ff2
commit b5b9cf5
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Showing 2 changed files with 18 additions and 2 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -23,9 +23,13 @@
 public class RobotContainer {
   private double MaxSpeed =
       TunerConstants.kSpeedAt12Volts.in(MetersPerSecond); // kSpeedAt12Volts desired top speed
+  private double SlowSpeed = 
+      TunerConstants.kSlowSpeed.in(MetersPerSecond);
   private double MaxAngularRate =
       RotationsPerSecond.of(0.75)
           .in(RadiansPerSecond); // 3/4 of a rotation per second max angular velocity
+  private double SlowAngularRate =
+      RotationsPerSecond.of(0.5).in(RadiansPerSecond);
 
   /* Setting up bindings for necessary control of the swerve drive platform */
   private final SwerveRequest.FieldCentric drive =
@@ -74,6 +78,16 @@ private void configureBindings() {
             ));
 
     joystick.a().whileTrue(drivetrain.applyRequest(() -> brake));
+    joystick.rightStick().whileTrue(
+      drivetrain.applyRequest(() ->
+         drive
+          .withVelocityX(
+            -joystick.getLeftX() * SlowSpeed)
+          .withVelocityY(
+            -joystick.getLeftY() * SlowSpeed)
+          .withRotationalRate(
+            -joystick.getRightX() * SlowAngularRate)
+      ));
     // joystick
     //     .b()
     //     .whileTrue(
@@ -82,9 +96,9 @@ 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

diff --git a/src/main/java/frc/robot/generated/TunerConstants.java b/src/main/java/frc/robot/generated/TunerConstants.java
@@ -96,6 +96,7 @@ public class TunerConstants {
     // Theoretical free speed (m/s) at 12 V applied output;
     // This needs to be tuned to your individual robot
     public static final LinearVelocity kSpeedAt12Volts = MetersPerSecond.of(5.21); //∞
+    public static final LinearVelocity kSlowSpeed = MetersPerSecond.of(3);
 
     // Every 1 rotation of the azimuth results in kCoupleRatio drive motor turns;
     // This may need to be tuned to your individual robot
@@ -134,6 +135,7 @@ public class TunerConstants {
             .withDriveMotorClosedLoopOutput(kDriveClosedLoopOutput)
             .withSlipCurrent(kSlipCurrent)
             .withSpeedAt12Volts(kSpeedAt12Volts)
+            .withSpeedAt12Volts(kSlowSpeed)
             .withDriveMotorType(kDriveMotorType)
             .withSteerMotorType(kSteerMotorType)
             .withFeedbackSource(kSteerFeedbackType)