update motor ids, tune stage two, make it stop when you release bumper

FRC-4509-MechBulls · Sep 21, 2023 · 3f20862 · 3f20862
1 parent 0191a19
commit 3f20862
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Showing 4 changed files with 17 additions and 17 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -63,14 +63,14 @@ public static final class ModuleConstants {
 
   public static class ArmConstants {
     public static final int stageOneLeftId =  11;
-    public static final int stageOneRightId = 12;
+    public static final int stageOneRightId = 13;
 
     public static final double continuousCurrentLimit = 20;
     public static final double peakCurrentLimit = 40;
     public static final double peakCurrentTime = 250;
 
-    public static final int stageTwoLeftId = 1;
-    public static final int stageTwoRightId = 2;
+    public static final int stageTwoLeftId = 49;
+    public static final int stageTwoRightId = 48;
 
     public static final int stageTwoSmartCurrentLimit = 40;
     public static final double stageTwoSecondaryCurrentLimit = 60;
@@ -134,16 +134,16 @@ public static final class DriveConstants {
     );
 
     //TBD
-    public static final int FRONT_LEFT_DRIVE_MOTOR_PORT = 3;
-    public static final int FRONT_RIGHT_DRIVE_MOTOR_PORT = 5;
-    public static final int BACK_LEFT_DRIVE_MOTOR_PORT = 7;
-    public static final int BACK_RIGHT_DRIVE_MOTOR_PORT = 9;
+    public static final int FRONT_LEFT_DRIVE_MOTOR_PORT = 1;
+    public static final int FRONT_RIGHT_DRIVE_MOTOR_PORT = 6;
+    public static final int BACK_LEFT_DRIVE_MOTOR_PORT = 8;
+    public static final int BACK_RIGHT_DRIVE_MOTOR_PORT = 3;
 
     //TBD
     public static final int FRONT_LEFT_TURNING_MOTOR_PORT = 4;
-    public static final int FRONT_RIGHT_TURNING_MOTOR_PORT = 6;
-    public static final int BACK_LEFT_TURNING_MOTOR_PORT = 8;
-    public static final int BACK_RIGHT_TURNING_MOTOR_PORT = 10;
+    public static final int FRONT_RIGHT_TURNING_MOTOR_PORT = 5;
+    public static final int BACK_LEFT_TURNING_MOTOR_PORT = 2;
+    public static final int BACK_RIGHT_TURNING_MOTOR_PORT = 7;
 
     public static final boolean FRONT_LEFT_DRIVE_ENCODER_REVERSED = false;
     public static final boolean FRONT_RIGHT_DRIVE_ENCODER_REVERSED = true;
@@ -162,8 +162,8 @@ public static final class DriveConstants {
     public static final int BACK_RIGHT_DRIVE_ABSOLUTE_ENCODER_PORT = 3;
 
     //sort of calculated
-    public static final double FRONT_LEFT_DRIVE_ABSOLUTE_ENCODER_OFFSET_RAD = -2.260 +Math.PI; //-2.29+Math.PI
-    public static final double FRONT_RIGHT_DRIVE_ABSOLUTE_ENCODER_OFFSET_RAD = -6.087+Math.PI; //-6.06+Math.PI
+    public static final double FRONT_LEFT_DRIVE_ABSOLUTE_ENCODER_OFFSET_RAD = -2.260 -0.140 +Math.PI; //-2.29+Math.PI
+    public static final double FRONT_RIGHT_DRIVE_ABSOLUTE_ENCODER_OFFSET_RAD = -5.30+Math.PI; //-6.06+Math.PI
     public static final double BACK_LEFT_DRIVE_ABSOLUTE_ENCODER_OFFSET_RAD = -5.420+Math.PI; //-2.25
     public static final double BACK_RIGHT_DRIVE_ABSOLUTE_ENCODER_OFFSET_RAD = -3.925+Math.PI; //-0.75
 

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -45,7 +45,7 @@ public RobotContainer() {
 
     grabberSub.setDefaultCommand(new RunCommand(()-> grabberSub.joystickDrive(xboxController.getLeftY(),xboxController.getRightY()), grabberSub));
     efSub.setDefaultCommand(new RunCommand(()->efSub.driveThing(xboxController.getLeftTriggerAxis() - xboxController.getRightTriggerAxis()),efSub));
-
+    swerveSubsystem.setDefaultCommand(new RunCommand(()->swerveSubsystem.joystickDrive(0,0,0),swerveSubsystem));
   }
 
 
@@ -63,7 +63,7 @@ private void configureBindings() {
     new JoystickButton(xboxController,XboxController.Button.kB.value).whileTrue(new InstantCommand(()->grabberSub.goHome()));
 
     new JoystickButton(xboxController,XboxController.Button.kLeftBumper.value).whileTrue(new RunCommand(()->swerveSubsystem.joystickDrive(xboxController.getLeftY()*-1, xboxController.getLeftX()*-1, xboxController.getRightX()*-1),swerveSubsystem));
-    new JoystickButton(xboxController,XboxController.Button.kLeftBumper.value).whileTrue(new RunCommand(()->grabberSub.goHome(),grabberSub));
+   // new JoystickButton(xboxController,XboxController.Button.kLeftBumper.value).whileTrue(new RunCommand(()->grabberSub.goHome(),grabberSub));
 
   }
 

diff --git a/src/main/java/frc/robot/subsystems/EFSub.java b/src/main/java/frc/robot/subsystems/EFSub.java
@@ -21,8 +21,8 @@ public class EFSub extends SubsystemBase {
 
   /** Creates a new EndEffectorSubsystem. */
   public EFSub() {
-    efMotorTop = new TalonSRX(14);
-    efMotorBottom = new TalonSRX(13);
+    efMotorTop = new TalonSRX(12);
+    efMotorBottom = new TalonSRX(14);
 
     // setting motors to brake mode so they immediately stop moving when voltage stops being sent
     efMotorTop.setNeutralMode(NeutralMode.Coast);

diff --git a/src/main/java/frc/robot/subsystems/StageTwoSubsystem.java b/src/main/java/frc/robot/subsystems/StageTwoSubsystem.java
@@ -25,7 +25,7 @@ public class StageTwoSubsystem extends SubsystemBase {
   private CANSparkMax armMotorPrimary;
   private CANSparkMax armMotorSecondary;
   private AbsoluteEncoder encoder;
-  private PIDController pidController = new PIDController(1, 0,0);
+  private PIDController pidController = new PIDController(0.5, 0,0);
 
 
 public StageTwoSubsystem(){