Intake test - #4
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… dont look at the name of the file woops
| // case kForward: | ||
| // setIntake(DoubleSolenoid.Value.kReverse); | ||
| // default: | ||
| // setIntake(DoubleSolenoid.Value.kOff); |
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Move the default up to kForward. So
caseKForward:
setIntake(DoubleSolenoid.Value.kReverse);
That way it will always toggle the cylinder
AndrewIverson
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Change the solenoid case statement in intake.
AndrewIverson
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Looking very good just some small tweaks for better usability
| @Override | ||
| public void execute() { | ||
| RobotContainer.mShooterSubsystem.setVelocitySetpoint(.9*Constants.maxRPMShooter); | ||
| double speed = SmartDashboard.getNumber("shooter speed", 0); |
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Lets get the limelight hooked up and get the distance and set between a constant for High and low speed.
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| @Override | ||
| public void periodic() { | ||
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Please add the current velocity of the shooter to the dashboard, and the command velocity too.
Tweaked speed
Speed tweak
Speed tweak
| public static final double kGearRatio = 10.71; | ||
| public static final double kWheelCircumference = Math.PI*6; | ||
| public static final double kWheelCircumference = Math.PI*5.9; |
| public ArrayList returnLeftList() throws IOException{ | ||
| File file = new File("/paths/StraightTen.left.pf1.csv"); | ||
| public ArrayList<Double> returnLeftList() throws IOException{ | ||
| File file = new File("/home/lvuser/deploy/output/" + pathName + ".left.pf1.csv"); |
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| /** | ||
| * Creates a new ExampleCommand. |
| public static final double kGearRatio = 10.71; | ||
| public static final double kWheelCircumference = Math.PI*6; | ||
| public static final double kWheelCircumference = Math.PI*5.9; |
| public final static int LL_LIGHT_BLINK = 2; | ||
| public final static int LL_LIGHT_ON = 3; | ||
| // 6 13 14 16 | ||
| public final static int DriveLeft1 = 1; |
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Optional, but consider creating an array constant for DriveLeft and DriveRight.
i.e. public final static int[] DriveLeft = {1,2,16};
| public final static int DriveRight3 = 13; | ||
| public final static int Shooter = 10; | ||
| public final static int Intake = 5; | ||
| public final static int Hopper1 = 4; |
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See above comment about using arrays
| public static final double kWheelCircumference = Math.PI*5.9; | ||
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| //public final static Gains kGains_Velocity |
| import java.util.logging.*; | ||
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| public class Path{ | ||
| private ArrayList rightString = new ArrayList<>(); |
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Noting for future update that starting up the path can likely be noticeably faster if it was directly instantiated as an array instead of having to read a CSV. Maybe we need a python script to parse the CSV and turn it into a java array literal.
| public ArrayList returnLeftList() throws IOException{ | ||
| File file = new File("/paths/StraightTen.left.pf1.csv"); | ||
| public ArrayList<Double> returnLeftList() throws IOException{ | ||
| File file = new File("/home/lvuser/deploy/output/" + pathName + ".left.pf1.csv"); |
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Make a String constant for "/home/lvuser/deploy/output/" + pathName + "
6 participants
Pull request to review intake subsystem, drive subsystem, hopper subsystem, robot container, and constants.