Merge pull request #236 from CyberCoyotes/event-ready

Tweaks to auton with a micro wait to Start pose 2
CyberCoyotes · Mar 14, 2024 · c0f8170 · c0f8170
2 parents fb79bac + 6fc0ede
commit c0f8170
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Showing 9 changed files with 27 additions and 10 deletions.
diff --git a/src/main/deploy/pathplanner/autos/Start2.0-2-1-3.auto b/src/main/deploy/pathplanner/autos/Start2.0-2-1-3.auto
@@ -11,6 +11,12 @@
     "type": "sequential",
     "data": {
       "commands": [
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0.01
+          }
+        },
         {
           "type": "named",
           "data": {

diff --git a/src/main/deploy/pathplanner/autos/Start2.0-2-1.auto b/src/main/deploy/pathplanner/autos/Start2.0-2-1.auto
@@ -11,6 +11,12 @@
     "type": "sequential",
     "data": {
       "commands": [
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0.01
+          }
+        },
         {
           "type": "named",
           "data": {

diff --git a/src/main/deploy/pathplanner/autos/Start2.0-2.auto b/src/main/deploy/pathplanner/autos/Start2.0-2.auto
@@ -11,6 +11,12 @@
     "type": "sequential",
     "data": {
       "commands": [
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0.0
+          }
+        },
         {
           "type": "named",
           "data": {

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -37,7 +37,7 @@ public static class ArmConstants {
     public static final double ARM_MID_POSE = 20;
     public static final double ARM_HIGH_POSE = 55;
     public static final double ARM_AMP_POSE = 90;
-    public static final int ARM_FWD_LIMIT = 91;
+    public static final int ARM_FWD_LIMIT = 100; // Previous event 91
 
     public static final int ARM_MAX_ACCEL = 100;
     public static final int ARM_MAX_VEL = 200;

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -99,8 +99,8 @@ public RobotContainer() {
     * Unintended side effect is this will create EVERY auton file from the RIO deploy folder.
     * FTP into the the RIO to delete old auton options */
     autoChooser = AutoBuilder.buildAutoChooser();
-    // SmartDashboard.putData("Auto Chooser", autoChooser);
-    Shuffleboard.getTab("Auton").add("Auto Chooser", autoChooser);
+    SmartDashboard.putData("Auto Chooser", autoChooser);
+    // Shuffleboard.getTab("Auton").add("Auto Chooser", autoChooser);
 
     shooter = new ShooterSubsystemVelocity();
 
@@ -170,7 +170,7 @@ public void DebugMethodSingle() {
 
     // Less useful logs that we still need to see for testing.
 
-    var driverDiagnostics = Shuffleboard.getTab("Diagnostics");
+    // var driverDiagnostics = Shuffleboard.getTab("Diagnostics");
 
     // driverDiagnostics.addDouble("Arm Rot", () -> arm.GetArmPos().getValueAsDouble());
     // driverDiagnostics.addDouble("Arm Rot Deg", () -> arm.GetPositionDegrees());

diff --git a/src/main/java/frc/robot/subsystems/ArmSubsystem.java b/src/main/java/frc/robot/subsystems/ArmSubsystem.java
@@ -7,14 +7,11 @@
 import com.ctre.phoenix6.configs.Slot1Configs;
 import com.ctre.phoenix6.configs.SoftwareLimitSwitchConfigs;
 import com.ctre.phoenix6.configs.TalonFXConfiguration;
-import com.ctre.phoenix6.controls.DutyCycleOut;
 import com.ctre.phoenix6.controls.MotionMagicVoltage;
-import com.ctre.phoenix6.controls.PositionDutyCycle;
 import com.ctre.phoenix6.controls.VoltageOut;
 import com.ctre.phoenix6.hardware.TalonFX;
 import com.ctre.phoenix6.signals.GravityTypeValue;
 
-import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
 

diff --git a/src/main/java/frc/robot/subsystems/LedSubsystem.java b/src/main/java/frc/robot/subsystems/LedSubsystem.java
@@ -26,6 +26,8 @@ CANdle requires the Phoenix (v5) vendordep
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
 
+@SuppressWarnings("unused")
+
 public class LedSubsystem extends SubsystemBase {
    private final CANdle m_candle = new CANdle(Constants.CANIDs.CANDLE_ID);
 

diff --git a/src/main/java/frc/robot/subsystems/NoteSensorSubsystem.java b/src/main/java/frc/robot/subsystems/NoteSensorSubsystem.java
@@ -7,7 +7,6 @@
 
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.DriverStation.Alliance;
-import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 
 /* Subsystem class to primarily use a Time of Flight sensor from 'Playing with Fusion'.
  * It will read the distance from the sensor to the 'note' and determine if the note is in a load position.
@@ -101,7 +100,7 @@ public void periodic() {
 
         // Only needed for diagnostics
         // Shuffleboard.getTab("Note").add("Note Distance", noteDistance.getRange());
-        // FIXME: This is not working as expected. Code crashes saying .add title is already in use, probably because it's being called periodically.
+        // This is not working as expected. Code crashes saying .add title is already in use, probably because it's being called periodically.
         // Shuffleboard.getTab("Sensors").add("Note Loaded 2", isNoteLoaded());
 
     }

diff --git a/src/main/java/frc/robot/subsystems/ShooterSubsystemVelocity.java b/src/main/java/frc/robot/subsystems/ShooterSubsystemVelocity.java
@@ -10,10 +10,11 @@
 import com.ctre.phoenix6.signals.NeutralModeValue;
 
 import edu.wpi.first.networktables.GenericEntry;
-import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
 
+@SuppressWarnings("unused")
+
 /**
  * Serves as a base for any flywheel system driven by 2 motors. Fire and forget,
  * enabling and diabling will be done by singular calls.