fixed 3

team5115 · Dec 7, 2024 · 1ef6eed · 1ef6eed
1 parent c8e02ae
commit 1ef6eed
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Showing 5 changed files with 28 additions and 3 deletions.
diff --git a/src/main/deploy/pathplanner/autos/3 Stack .auto b/src/main/deploy/pathplanner/autos/3 Stack .auto
@@ -5,7 +5,7 @@
       "x": 1.225,
       "y": 5.2
     },
-    "rotation": 7.138798805037105e-26
+    "rotation": -1.858513390606092e-27
   },
   "command": {
     "type": "sequential",
@@ -21,6 +21,12 @@
           "type": "sequential",
           "data": {
             "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "IntakeSetpoint"
+                }
+              },
               {
                 "type": "race",
                 "data": {
@@ -66,6 +72,12 @@
           "type": "sequential",
           "data": {
             "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "IntakeSetpoint"
+                }
+              },
               {
                 "type": "race",
                 "data": {

diff --git a/src/main/java/frc/team5115/RobotContainer.java b/src/main/java/frc/team5115/RobotContainer.java
@@ -153,6 +153,7 @@ private void configureButtonBindings() {
         joyDrive.a().onTrue(Commands.runOnce(() -> slowMode = !slowMode));
 
         joyManip.a().onTrue(DriveCommands.intakeUntilCanister(dispenser, arm));
+        joyManip.b().onTrue(DriveCommands.vaultIntake(dispenser,arm));
 
         // joyManip
         //         .b()

diff --git a/src/main/java/frc/team5115/commands/DriveCommands.java b/src/main/java/frc/team5115/commands/DriveCommands.java
@@ -78,6 +78,13 @@ public static Command intakeUntilCanister(Dispenser dispenser, Arm arm) {
                 dispenser.intake(), arm.intake(), dispenser.waitTillCanister(), dispenser.stop());
     }
 
+    public static Command vaultIntake(Dispenser dispenser, Arm arm) {
+        return Commands.sequence(
+                dispenser.intake(), arm.vaultIntake(), dispenser.waitTillCanister(), dispenser.stop());
+    }
+
+
+
     public static Command stow(Dispenser dispenser, Arm arm) {
         return Commands.parallel(dispenser.stop(), arm.stow());
     }

diff --git a/src/main/java/frc/team5115/subsystems/arm/Arm.java b/src/main/java/frc/team5115/subsystems/arm/Arm.java
@@ -32,7 +32,8 @@ public enum State {
         STOWED(+66.0),
         INTAKE(-25.0),
         DISPENSE(+150.0),
-        STACK(+180.0); // TODO add accurate stack position
+        STACK(+180.0), // TODO add accurate stack position
+        VAULTINTAKE(5);
 
         private final double position;
 
@@ -130,6 +131,10 @@ public Command intake() {
         return setState(State.INTAKE);
     }
 
+    public Command vaultIntake() {
+        return setState(State.VAULTINTAKE);
+    }
+
     // manipulate arm with joystic
     public void goAtVoltage(double speed) {
         io.setArmVoltage(speed * maxVolts);

diff --git a/src/main/java/frc/team5115/subsystems/arm/ArmIOSparkMax.java b/src/main/java/frc/team5115/subsystems/arm/ArmIOSparkMax.java
@@ -19,7 +19,7 @@ public ArmIOSparkMax() {
         absoluteEncoder.setPositionConversionFactor(360);
         absoluteEncoder.setInverted(true);
         motor.setInverted(false);
-        motor.setSmartCurrentLimit(30);
+        motor.setSmartCurrentLimit(50);
         motor.burnFlash();
     }