Bring Main to Vision-Testing #24
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Idk, I switched some of the ys to xs and xs to ys to make the code more consistent. However, that had the consequence of also potentially messing up the auto.
… allow splitting of xy movement and rotation
# Conflicts: # src/main/java/frc/robot/Robot.java # src/main/java/frc/robot/RobotMap.java
commit be3ca8c Author: Erik Currin <ehc12345678@gmail.com> Date: Sun Jan 28 15:43:34 2024 -0500 LED Charge up commit c96a855 Author: Justin-Dana <122135968+Justin-Dana@users.noreply.github.com> Date: Sat Jan 27 14:10:56 2024 -0500 Avoiding CHarege Up stuff Basicly just nevr calling it to avoid the issues, its not very important rn anyway.
In code, +x is forwards and +y is left. I tried setting up some Path Planner and it doesn't seem like there's anything wrong (but clearly there is). Path Planner never reaches its end condition even though the pose it's getting, that I confirmed using PathPlannerLogger, is correct.
Essentially, the shooter now has the code to allow it to rotate to change the angle we're shooting from (it may or may not work as of now due to tuning PID, Feedforward, and positive/negative issues). PathPlanner has been for the most part fixed, but rotation while moving still does not work. The Shuffleboard is starting to look nice as well.
This is because one person cannot possibly control everything they would need to using a single xbox controller. So two people will be using two controllers during the match.
I haven't had the chance to test yet, but at least the code builds...
Literally just commented about every file that wasn't commented. I also made it so that the intake can actually rotate using some basic (untuned) PID and Feedforward.
Literally all I did was add a climber subsystem that has a motor in it.
Now the bumper buttons on the drive controller stick the climber up and down.
Essentially, this command intakes from the ground all the way to the top of the shooter.
In the debug tab, there are commands for testing.
Idk why but the LED command LedChargeUp wasn't working since it does weird stuff on initialization, so I removed it from the Shuffleboard.
Just made motors more realistic. Still have yet to validate ports.
These pushes dont build becuase of Autosoucrece intake not being resolved to a tpye, so yall need to fix that
speed and strafe of speed are now in m/s fixed odometry turning while moving works in auto added accleration limit to auto swerve movement
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