regional code

Scorpions-Robotics · Mar 22, 2024 · 7a7293b · 7a7293b
1 parent 59c871d
commit 7a7293b
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Showing 2 changed files with 13 additions and 5 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -112,7 +112,7 @@ private void configureBindings() {
 //buton 1
 new JoystickButton(driverJoytick, 1).whileTrue(new InstantCommand(()-> m_feeder.forward()));
 new JoystickButton(driverJoytick, 1).whileFalse(new InstantCommand(()-> m_feeder.stop()));
-new JoystickButton(driverJoytick, 1).whileTrue(new InstantCommand(()-> m_shooter.ShooterThrowMotorOutput(0.2)));
+new JoystickButton(driverJoytick, 1).whileTrue(new InstantCommand(()-> m_shooter.ShooterThrowMotorOutput(0.5)));
 new JoystickButton(driverJoytick, 1).whileFalse(new InstantCommand(()-> m_shooter.ShooterThrow1MotorStop()));
 new JoystickButton(driverJoytick, 1).whileFalse(new InstantCommand(()-> m_shooter.ShooterThrow2MotorStop()));
 
@@ -372,6 +372,12 @@ public Command getAutonomousCommand(int mode) {
                           new Pose2d(-1.28, -0.02, new Rotation2d(0.0)),
                           new Pose2d(0.0, 0.0, new Rotation2d(0.0))),
                         trajectoryConfig);
+
+                        var trajectory5 =
+                        TrajectoryGenerator.generateTrajectory(
+                          List.of(new Pose2d(0.0, 0.0, new Rotation2d(0.0)),
+                          new Pose2d(-2.28, -0.02, new Rotation2d(0.0))),
+                        trajectoryConfig);
 
                 // var trajectoryOne =
                 //         TrajectoryGenerator.generateTrajectory(
@@ -546,10 +552,10 @@ else if(mode == 1){
                 .andThen(new AutoNoteShoot(m_shooter, m_feeder, ()-> 73)).withTimeout(8);
                }
                else if(mode == 0){
-                return new AutoNoteShoot(m_shooter, m_feeder, () -> 55).withTimeout(3);
+                return new AutoNoteShoot(m_shooter, m_feeder, () -> 55).withTimeout(3)
+                .andThen(pathCommand(trajectory5));
                  }
-
-
+
                else{
                 return new AutoNoteShoot(m_shooter, m_feeder, () -> 64).withTimeout(2)
                 .andThen(pathCommand(trajectoryOne).alongWith(new pickupforAuto(m_intake, m_joystick).withTimeout(3.75))

diff --git a/src/main/java/frc/robot/subsystems/SwerveSubsystem.java b/src/main/java/frc/robot/subsystems/SwerveSubsystem.java
@@ -18,6 +18,7 @@
 import edu.wpi.first.wpilibj.SPI;
 import edu.wpi.first.wpilibj.SerialPort;
 import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.I2C;
 import edu.wpi.first.wpilibj.I2C.Port;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
@@ -61,7 +62,8 @@ public class SwerveSubsystem extends SubsystemBase {
       DriveConstants.kBackRightDriveAbsoluteEncoderOffsetRad,
       DriveConstants.kBackRightDriveAbsoluteEncoderReversed);
 
-  private final AHRS gyro = new AHRS(SerialPort.Port.kUSB);
+ private final AHRS gyro = new AHRS(SerialPort.Port.kUSB);
+  //private final AHRS gyro = new AHRS(I2C.Port.kOnboard);
 
   private SwerveModule[] modules = {frontLeft, frontRight, backLeft, backRight};