odoo

src/main/java/frc/robot/RobotContainer.java

@@ -60,7 +60,7 @@
 
 public class RobotContainer {
         private final IntakeSubsystem m_intake = new IntakeSubsystem();
-       // private final ShooterSubsystem m_shooter = new ShooterSubsystem();
+        // private final ShooterSubsystem m_shooter = new ShooterSubsystem();
         private final SwerveSubsystem swerveSubsystem = new SwerveSubsystem();
         private final XboxController driverJoytick = new XboxController(1);
         private final XboxController subJoytick = new XboxController(3);
@@ -95,6 +95,7 @@ private void configureBindings() {
 
                // new JoystickButton(driverJoytick, 5).whileTrue(new RunTillSwitch(m_intake,false,m_feeder,m_joystick,m_shooter));
                 new JoystickButton(driverJoytick, 5).whileFalse(new InstantCommand(()->m_intake.StopNoteMotor()));
+                // new JoystickButton(subJoytick, 3).whileTrue(new ShooterSetDegree(m_shooter, ()->70.0));
 
             //  new JoystickButton(driverJoytick, 6).whileTrue(new FedX(m_intake, m_feeder, m_joystick,m_shooter));
 
@@ -226,8 +227,23 @@ public Command getAutonomousCommand() {
                         TrajectoryGenerator.generateTrajectory(
                            new Pose2d(0, 0, new Rotation2d(0)),
                            List.of(new Translation2d(-1.28, 0),new Translation2d(-0.56, -0.91)),
-                           new Pose2d(-1.28, -1.44, new Rotation2d(0)),
+                           new Pose2d(-1.28, -1.44, new Rotation2d(3.1)),
                            trajectoryConfig);
+
+                        var trajectoryTwo =
+                           TrajectoryGenerator.generateTrajectory(
+                              new Pose2d(-1.28, -1.44, new Rotation2d(0)),
+                              List.of(new Translation2d(-1.28, 0),new Translation2d(0.5, -0.5)),
+                              new Pose2d(-0,0, new Rotation2d(0)),
+                              trajectoryConfig);
+
+                        var trajectoryThree =
+                              TrajectoryGenerator.generateTrajectory(
+                                 new Pose2d(0, 0, new Rotation2d(0)),
+                                 List.of(new Translation2d(1, 0),new Translation2d(1, -1)),
+                                 new Pose2d(0,0, new Rotation2d(2)),
+                                 trajectoryConfig);
+
 
                         // var trajectoryOne =
                         //    TrajectoryGenerator.generateTrajectory(
@@ -255,7 +271,27 @@ public Command getAutonomousCommand() {
                 swerveSubsystem::OtosetModuleStates,
                 swerveSubsystem);
 
-                return swerveControllerCommand;
+        SwerveControllerCommand swerveControllerCommand2 = new SwerveControllerCommand(
+                trajectoryTwo,
+                swerveSubsystem::getPose,
+                DriveConstants.kDriveKinematics,
+                xController,
+                yController,
+                thetaController,
+                swerveSubsystem::OtosetModuleStates,
+                swerveSubsystem);
+
+                SwerveControllerCommand swerveControllerCommand3 = new SwerveControllerCommand(
+                trajectoryThree,
+                swerveSubsystem::getPose,
+                DriveConstants.kDriveKinematics,
+                xController,
+                yController,
+                thetaController,
+                swerveSubsystem::OtosetModuleStates,
+                swerveSubsystem);
+
+                return swerveControllerCommand.andThen(swerveControllerCommand2).andThen(swerveControllerCommand3);
   // PathPlannerPath path = PathPlannerPath.fromPathFile("New New Path");
         // Create a path following command using AutoBuilder. This will also trigger event markers.
       //  return swerveSubsystem.autobuilder.followPath(path);

src/main/java/frc/robot/commands/feeder/FeederRunTillSwitch.java

@@ -13,44 +13,36 @@ public class FeederRunTillSwitch extends Command {
 
 
   public FeederRunTillSwitch(FeederSubsystem m_feeder, boolean dursunmu) {
-
     this.m_feeder = m_feeder;
-
   }
 
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-
+    
   }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
 
 
-    boolean ilkswitch;
+if(m_feeder.varmi){
+if(m_feeder.detector()){
+m_feeder.backward2();
+}
+else{
+  m_feeder.stop();
+  m_feeder.varmifalse();
 
-    ilkswitch = m_feeder.detector();
+}}
 
-if(m_feeder.varmi){
 
 
-if(!dursunmu){
 
-  if(ilkswitch){
-
-    m_feeder.backward2();
-
-        }else{
-          m_feeder.varmifalse();
-          m_feeder.stop();
-        }
-      }
-}
 
 
-  }
+}
 
   // Called once the command ends or is interrupted.
   @Override

src/main/java/frc/robot/subsystems/FeederSubsystem.java

@@ -1,5 +1,4 @@
 package frc.robot.subsystems;
-
 import edu.wpi.first.wpilibj.AnalogInput;
 import edu.wpi.first.wpilibj.DigitalInput;
 //import edu.wpi.first.wpilibj.DigitalInput;
@@ -10,18 +9,17 @@
 import com.ctre.phoenix.motorcontrol.can.WPI_VictorSPX;
 
 public class FeederSubsystem extends SubsystemBase {
-
- // public WPI_VictorSPX feedmotor = new WPI_VictorSPX(7);
-  //public DigitalInput detector = new DigitalInput(6);
+  public WPI_VictorSPX feedmotor = new WPI_VictorSPX(7);
+  public DigitalInput detector = new DigitalInput(6);
   public boolean magstatus;
   public boolean count;
   IntakeSubsystem m_intake;
   boolean tekcalisma;
   boolean dolumu = false;
   public boolean varmi = true;
-  
+
   //public AnalogInput intechedetector = new AnalogInput(0);
-  
+
 
 
   public FeederSubsystem() {
@@ -39,46 +37,31 @@ public void varmifalse(){
 }
 
   public boolean detector() {
-      //return detector.get();
-      return false;
-  }
-
-
-  public void forward() {
-   // feedmotor.set(0.3);
+      return detector.get();
   }
 
   public void backward2() {
-    //feedmotor.set(-0.7);
+    feedmotor.set(-0.7);
   }
 
   public void backward() {
-   // feedmotor.set(-0.9);
+    feedmotor.set(-0.9);
   }
-
-  public void runtillswitch(){
-/*while((detector.get())){
-  feedmotor.set(-0.6);
-
-
-    while ((detector.get())) {
-      feedmotor.set(-0.8);
 
-    }
-    feedmotor.set(0);
-
-}*/
+  public void runtillswitch(){
+      if(detector.get()){
+        feedmotor.set(-0.6);
+      }else{
+        feedmotor.set(0.0);
 
-   }  
+      }
+  }
 
   //while((detector.getValue() > 250)&&(intechedetector.getValue() < 2000)){
   //feedmotor.set(-0.8);
-
   // }
   // feedmotor.set(0);
-
   // }
-
   // public boolean ismagfilled(){
   // if (detector.getValue() >){
   // return false;
@@ -88,14 +71,12 @@ public void runtillswitch(){
   // }
   // }
 
+
   public void stop() {
-    //feedmotor.set(0);
+    feedmotor.set(0);
   }
-
   @Override
   public void periodic() {
-
-    //SmartDashboard.putBoolean("bakacaz", detector.get());
-
+    SmartDashboard.putBoolean("feeder Switch", detector.get());
   }
-}
+}