testing changes 3/4 (small stuff no big)

FIRSTTeam102 · Mar 5, 2024 · 6a4dec5 · 6a4dec5
1 parent ff51051
commit 6a4dec5
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Showing 5 changed files with 13 additions and 14 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -216,10 +216,10 @@ private void configureBindings() {
 
 			testController.rightBumper()
 				.whileTrue(Commands
-					.runEnd(() -> intake.setMotorVoltage(intakeSpeedEntry.getDouble(0) * 12), () -> intake.stopMotor(), intake)
+					.runEnd(() -> intake.setMotorSpeed(intakeSpeedEntry.getDouble(0)), () -> intake.stopMotor(), intake)
 					.until(() -> intake.inputs.noteSensor).unless(() -> intake.inputs.noteSensor));
 			testController.leftBumper().whileTrue(
-				new StartEndCommand(() -> intake.setMotorVoltage(indexSpeedEntry.getDouble(0) * 12), () -> intake.stopMotor(),
+				new StartEndCommand(() -> intake.setMotorSpeed(indexSpeedEntry.getDouble(0)), () -> intake.stopMotor(),
 					intake));
 
 			testController.rightStick().whileTrue(new ManualArmControl(arm, testController::getLeftY));

diff --git a/src/main/java/frc/robot/constants/ArmConstants.java b/src/main/java/frc/robot/constants/ArmConstants.java
@@ -7,9 +7,9 @@ public final class ArmConstants {
 	public static final double shaftEncoderOffset_deg = 4.22; // needs to be tuned
 
 	// pid
-	public static final double kP = .000090;
+	public static final double kP = .000095;
 	public static final double kI = 0;
-	public static final double kD = .0000016;
+	public static final double kD = .00000165;
 
 	public static final double maxOutput = .5;
 	public static final double minOutput = -maxOutput;

diff --git a/src/main/java/frc/robot/constants/IntakeConstants.java b/src/main/java/frc/robot/constants/IntakeConstants.java
@@ -5,5 +5,5 @@ public class IntakeConstants {
 	public static final int sensorId = 0;
 
 	public static final double intakeSpeed = 0.95;
-	public static final double indexSpeed = 0.75;
+	public static final double indexSpeed = 0.85;
 }
diff --git a/src/main/java/frc/robot/constants/SwerveConstants.java b/src/main/java/frc/robot/constants/SwerveConstants.java
@@ -7,10 +7,10 @@
 public final class SwerveConstants {
 	// FL, FR, BL, BR (matches AdvantageScope convention)
 	public static final SwerveModuleConstants moduleConstants[] = {
-		new SwerveModuleConstants(21, 22, .697),
-		new SwerveModuleConstants(23, 24, 1.883),
-		new SwerveModuleConstants(25, 26, 6.27),
-		new SwerveModuleConstants(27, 28, 2.891)
+		new SwerveModuleConstants(21, 22, .691),
+		new SwerveModuleConstants(23, 24, 1.836),
+		new SwerveModuleConstants(25, 26, 3.788),
+		new SwerveModuleConstants(27, 28, 2.859)
 	};
 
 	// the left-to-right distance between the drivetrain wheels, should be measured from center to center

diff --git a/src/main/java/frc/robot/subsystems/Intake.java b/src/main/java/frc/robot/subsystems/Intake.java
@@ -2,6 +2,7 @@
 
 import static frc.robot.constants.IntakeConstants.*;
 
+import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
@@ -19,6 +20,7 @@ public class Intake extends SubsystemBase {
 
 	public Intake() {
 		motor.setIdleMode(IdleMode.kBrake);
+		motor.enableVoltageCompensation(12);
 	}
 
 	@Override
@@ -28,11 +30,8 @@ public void periodic() {
 	}
 
 	public void setMotorSpeed(double speed) {
-		motor.set(speed);
-	}
-
-	public void setMotorVoltage(double voltage_V) {
-		motor.setVoltage(voltage_V);
+		speed = MathUtil.clamp(speed, -1, 1);
+		motor.setVoltage(speed * 12);
 	}
 
 	@AutoLog