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fix left and right motor mix up
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@jordanjcoderman
jordanjcoderman committed Feb 11, 2024
1 parent 8c6a8f6 commit 6ccef98
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Showing 2 changed files with 43 additions and 39 deletions.
48 changes: 24 additions & 24 deletions src/main/java/frc/robot/robot_manager/RobotManager.java
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Original file line number Diff line number Diff line change
Expand Up @@ -386,72 +386,72 @@ public void robotPeriodic() {
case UNHOMED:
shoulder.startPreMatchHoming();
intake.idleRequest();
shooter.setMode(ShooterMode.IDLE);
shooter.setGoalMode(ShooterMode.IDLE);
break;
case HOMING:
shoulder.startMidMatchHoming();
intake.idleRequest();
shooter.setMode(ShooterMode.IDLE);
shooter.setGoalMode(ShooterMode.IDLE);
break;
case IDLE_UP_NO_GP:
shoulder.setAngle(ShoulderPositions.STOWED_UP);
intake.idleNoGPRequest();
shooter.setMode(ShooterMode.IDLE);
shooter.setGoalMode(ShooterMode.IDLE);
climber.setGoal(ClimberMode.IDLE);
break;
case IDLE_UP_WITH_GP:
shoulder.setAngle(ShoulderPositions.STOWED_UP);
intake.idleWithGPRequest();
shooter.setMode(ShooterMode.IDLE);
shooter.setGoalMode(ShooterMode.IDLE);
climber.setGoal(ClimberMode.IDLE);
break;
case IDLE_DOWN_NO_GP:
shoulder.setAngle(ShoulderPositions.STOWED_DOWN);
intake.idleNoGPRequest();
shooter.setMode(ShooterMode.IDLE);
shooter.setGoalMode(ShooterMode.IDLE);
climber.setGoal(ClimberMode.IDLE);
break;
case IDLE_DOWN_WITH_GP:
shoulder.setAngle(ShoulderPositions.STOWED_DOWN);
intake.idleWithGPRequest();
shooter.setMode(ShooterMode.IDLE);
shooter.setGoalMode(ShooterMode.IDLE);
climber.setGoal(ClimberMode.IDLE);
break;
case GROUND_INTAKING:
shoulder.setAngle(ShoulderPositions.GROUND_INTAKING);
intake.intakingRequest();
shooter.setMode(ShooterMode.INTAKING);
shooter.setGoalMode(ShooterMode.INTAKING);
climber.setGoal(ClimberMode.IDLE);
break;
case GROUND_INTAKING_SETTLING:
shoulder.setAngle(ShoulderPositions.STOWED_DOWN);
intake.intakingRequest();
shooter.setMode(ShooterMode.INTAKING);
shooter.setGoalMode(ShooterMode.INTAKING);
climber.setGoal(ClimberMode.IDLE);
break;
case SOURCE_INTAKING:
shoulder.setAngle(ShoulderPositions.SOURCE_INTAKING);
intake.intakingRequest();
shooter.setMode(ShooterMode.INTAKING);
shooter.setGoalMode(ShooterMode.INTAKING);
climber.setGoal(ClimberMode.IDLE);
break;
case SOURCE_INTAKING_SETTLING:
shoulder.setAngle(ShoulderPositions.STOWED_UP);
intake.intakingRequest();
shooter.setMode(ShooterMode.INTAKING);
shooter.setGoalMode(ShooterMode.INTAKING);
climber.setGoal(ClimberMode.IDLE);
break;
case OUTTAKING:
shoulder.setAngle(ShoulderPositions.OUTTAKING);
intake.outtakingRequest();
shooter.setMode(ShooterMode.IDLE);
shooter.setGoalMode(ShooterMode.IDLE);
climber.setGoal(ClimberMode.IDLE);
break;
case WAITING_FLOOR_SHOT:
case PREPARE_FLOOR_SHOT:
shoulder.setAngle(shoulderAngleForFloorSpot);
intake.idleRequest();
shooter.setMode(ShooterMode.FLOOR_SHOT);
shooter.setGoalMode(ShooterMode.FLOOR_SHOT);
climber.setGoal(ClimberMode.IDLE);
snaps.setAngle(robotAngleToFloorSpot);
snaps.setEnabled(true);
Expand All @@ -460,7 +460,7 @@ public void robotPeriodic() {
case FLOOR_SHOOT:
shoulder.setAngle(shoulderAngleForFloorSpot);
intake.shootingRequest();
shooter.setMode(ShooterMode.FLOOR_SHOT);
shooter.setGoalMode(ShooterMode.FLOOR_SHOT);
climber.setGoal(ClimberMode.IDLE);
snaps.setAngle(robotAngleToFloorSpot);
snaps.setEnabled(true);
Expand All @@ -470,20 +470,20 @@ public void robotPeriodic() {
case PREPARE_SUBWOOFER_SHOT:
shoulder.setAngle(ShoulderPositions.SUBWOOFER_SHOT);
intake.idleRequest();
shooter.setMode(ShooterMode.SUBWOOFER_SHOT);
shooter.setGoalMode(ShooterMode.SUBWOOFER_SHOT);
climber.setGoal(ClimberMode.IDLE);
break;
case SUBWOOFER_SHOOT:
shoulder.setAngle(ShoulderPositions.SUBWOOFER_SHOT);
intake.shootingRequest();
shooter.setMode(ShooterMode.SUBWOOFER_SHOT);
shooter.setGoalMode(ShooterMode.SUBWOOFER_SHOT);
climber.setGoal(ClimberMode.IDLE);
break;
case WAITING_SPEAKER_SHOT:
case PREPARE_SPEAKER_SHOT:
shoulder.setAngle(shoulderAngleForSpeaker);
intake.idleRequest();
shooter.setMode(ShooterMode.SPEAKER_SHOT);
shooter.setGoalMode(ShooterMode.SPEAKER_SHOT);
climber.setGoal(ClimberMode.IDLE);
snaps.setAngle(robotAngleToSpeaker);
snaps.setEnabled(true);
Expand All @@ -492,7 +492,7 @@ public void robotPeriodic() {
case SPEAKER_SHOOT:
shoulder.setAngle(shoulderAngleForSpeaker);
intake.shootingRequest();
shooter.setMode(ShooterMode.SPEAKER_SHOT);
shooter.setGoalMode(ShooterMode.SPEAKER_SHOT);
climber.setGoal(ClimberMode.IDLE);
snaps.setAngle(robotAngleToSpeaker);
snaps.setEnabled(true);
Expand All @@ -502,44 +502,44 @@ public void robotPeriodic() {
case PREPARE_AMP_SHOT:
shoulder.setAngle(ShoulderPositions.AMP_SHOT);
intake.idleRequest();
shooter.setMode(ShooterMode.IDLE);
shooter.setGoalMode(ShooterMode.IDLE);
climber.setGoal(ClimberMode.IDLE);
break;
case AMP_SHOOT:
shoulder.setAngle(ShoulderPositions.AMP_SHOT);
intake.shootingRequest();
shooter.setMode(ShooterMode.IDLE);
shooter.setGoalMode(ShooterMode.IDLE);
climber.setGoal(ClimberMode.IDLE);
break;
case WAITING_CLIMBER_RAISED:
shoulder.setAngle(ShoulderPositions.WAITING_CLIMBER_RAISED);
intake.idleRequest();
shooter.setMode(ShooterMode.IDLE);
shooter.setGoalMode(ShooterMode.IDLE);
climber.setGoal(ClimberMode.RAISED);
break;
case PREPARE_CLIMBER_RAISED:
case CLIMBER_RAISED:
shoulder.setAngle(ShoulderPositions.TRAP_SHOT);
intake.idleRequest();
shooter.setMode(ShooterMode.IDLE);
shooter.setGoalMode(ShooterMode.IDLE);
climber.setGoal(ClimberMode.RAISED);
break;
case PREPARE_CLIMBER_HANGING:
shoulder.setAngle(ShoulderPositions.TRAP_SHOT);
intake.climbingRequest();
shooter.setMode(ShooterMode.IDLE);
shooter.setGoalMode(ShooterMode.IDLE);
climber.setGoal(ClimberMode.HANGING);
break;
case CLIMBER_HANGING:
shoulder.setAngle(ShoulderPositions.TRAP_SHOT);
intake.climbingRequest();
shooter.setMode(ShooterMode.IDLE);
shooter.setGoalMode(ShooterMode.IDLE);
climber.setGoal(ClimberMode.HANGING);
break;
case TRAP_SHOOT:
shoulder.setAngle(ShoulderPositions.TRAP_SHOT);
intake.trapOuttakeRequest();
shooter.setMode(ShooterMode.IDLE);
shooter.setGoalMode(ShooterMode.IDLE);
climber.setGoal(ClimberMode.HANGING);
break;
default:
Expand Down
34 changes: 19 additions & 15 deletions src/main/java/frc/robot/shooter/ShooterSubsystem.java
View file
Original file line number Diff line number Diff line change
Expand Up @@ -41,8 +41,8 @@ public class ShooterSubsystem extends LifecycleSubsystem {
public ShooterSubsystem(TalonFX leftMotor, TalonFX rightMotor) {
super(SubsystemPriority.SHOOTER);

this.rightMotor = leftMotor;
this.leftMotor = rightMotor;
this.leftMotor = leftMotor;
this.rightMotor = rightMotor;

RobotConfig.get().shooter().speakerShotRpms().accept(speakerDistanceToRPM);
RobotConfig.get().shooter().floorShotRpms().accept(floorSpotDistanceToRPM);
Expand Down Expand Up @@ -97,23 +97,23 @@ public void robotPeriodic() {
Logger.recordOutput("Shooter/DistanceToFloorSpot", floorSpotDistance);
Logger.recordOutput("Shooter/Mode", goalMode);
Logger.recordOutput("Shooter/GoalRPM", goalRPM);
Logger.recordOutput("Shooter/TopMotor/Temperature", leftMotor.getDeviceTemp().getValue());
Logger.recordOutput("Shooter/TopMotor/RPM", getRPM(leftMotor));
Logger.recordOutput("Shooter/LeftMotor/Temperature", leftMotor.getDeviceTemp().getValue());
Logger.recordOutput("Shooter/LeftMotor/RPM", getRPM(leftMotor));
Logger.recordOutput(
"Shooter/TopMotor/POutput", leftMotor.getClosedLoopProportionalOutput().getValue());
"Shooter/LeftMotor/POutput", leftMotor.getClosedLoopProportionalOutput().getValue());
Logger.recordOutput(
"Shooter/TopMotor/SupplierCurrent", leftMotor.getSupplyCurrent().getValueAsDouble());
Logger.recordOutput("Shooter/TopMotor/StatorCurrent", leftMotor.getStatorCurrent().getValue());
Logger.recordOutput("Shooter/TopMotor/Voltage", leftMotor.getMotorVoltage().getValue());
"Shooter/LeftMotor/SupplierCurrent", leftMotor.getSupplyCurrent().getValueAsDouble());
Logger.recordOutput("Shooter/LeftMotor/StatorCurrent", leftMotor.getStatorCurrent().getValue());
Logger.recordOutput("Shooter/LeftMotor/Voltage", leftMotor.getMotorVoltage().getValue());
Logger.recordOutput(
"Shooter/BottomMotor/StatorCurrent", rightMotor.getStatorCurrent().getValue());
Logger.recordOutput("Shooter/BottomMotor/Voltage", rightMotor.getMotorVoltage().getValue());
Logger.recordOutput("Shooter/BottomMotor/RPM", getRPM(rightMotor));
Logger.recordOutput("Shooter/BottomMotor/Temperature", rightMotor.getDeviceTemp().getValue());
"Shooter/RightMotor/StatorCurrent", rightMotor.getStatorCurrent().getValue());
Logger.recordOutput("Shooter/RightMotor/Voltage", rightMotor.getMotorVoltage().getValue());
Logger.recordOutput("Shooter/RightMotor/RPM", getRPM(rightMotor));
Logger.recordOutput("Shooter/RightMotor/Temperature", rightMotor.getDeviceTemp().getValue());
Logger.recordOutput(
"Shooter/BottomMotor/POutput", rightMotor.getClosedLoopProportionalOutput().getValue());
"Shooter/RightMotor/POutput", rightMotor.getClosedLoopProportionalOutput().getValue());
Logger.recordOutput(
"Shooter/BottomMotor/SupplierCurrent", rightMotor.getSupplyCurrent().getValueAsDouble());
"Shooter/RightMotor/SupplierCurrent", rightMotor.getSupplyCurrent().getValueAsDouble());
Logger.recordOutput("Shooter/AtGoal", atGoal(goalMode));
}

Expand All @@ -138,10 +138,14 @@ private double getRPM(TalonFX motor) {
return motor.getVelocity().getValue() * 60.0;
}

public void setMode(ShooterMode newMode) {
public void setGoalMode(ShooterMode newMode) {
goalMode = newMode;
}

public ShooterMode getGoalMode() {
return goalMode;
}

public void setSpeakerDistance(double distance) {
speakerDistance = distance;
}
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