vision shoot2

Scorpions-Robotics · Mar 14, 2024 · 4f4510d · 4f4510d
1 parent fcc2751
commit 4f4510d
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Showing 4 changed files with 40 additions and 6 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -109,6 +109,9 @@ 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).whileFalse(new InstantCommand(()-> m_shooter.ShooterThrow1MotorStop()));
+new JoystickButton(driverJoytick, 1).whileFalse(new InstantCommand(()-> m_shooter.ShooterThrow2MotorStop()));
 
 
 //buton 2
@@ -132,6 +135,8 @@ private void configureBindings() {
 new JoystickButton(driverJoytick, 7).whileFalse(new InstantCommand(()-> m_arm.leftarmstop()));
 new JoystickButton(driverJoytick, 8).whileFalse(new InstantCommand(()-> m_arm.rightarmstop()));
 
+
+
 /* 
  ____  _  _  ____  ____  ____  __  _  _  ____  ____ 
 / ___)/ )( \(  _ \(    \(  _ \(  )/ )( \(  __)(  _ \
@@ -154,8 +159,8 @@ private void configureBindings() {
 new JoystickButton(subJoytick, 2).whileFalse(new InstantCommand(()->m_intake.StopNoteMotor()));
 
 //buton 3 Shooter Manuel subbuffer
-new JoystickButton(subJoytick, 3).whileTrue(new VisionShooter(m_shooter, m_network));
-    new JoystickButton(subJoytick, 3).whileTrue(new InstantCommand(()-> m_shooter.ShooterThrowMotorOutput(-0.9)));
+//new JoystickButton(subJoytick, 3).whileTrue(new VisionShooter(m_shooter, m_network));
+new JoystickButton(subJoytick, 3).whileTrue(new InstantCommand(()-> m_shooter.ShooterThrowMotorOutput(-1)));
 new JoystickButton(subJoytick, 3).whileFalse(new InstantCommand(()-> m_shooter.ShooterThrow1MotorStop()));
 new JoystickButton(subJoytick, 3).whileFalse(new InstantCommand(()-> m_shooter.ShooterThrow2MotorStop()));
 
@@ -164,7 +169,10 @@ private void configureBindings() {
 
 //button 5 Amfi 
  new JoystickButton(subJoytick, 5).whileTrue(new ShooterSetDegree(m_shooter, ()->180.0));
-
+ new JoystickButton(subJoytick, 6).whileTrue(new ShooterSetDegree(m_shooter, ()->70.0));
+ new JoystickButton(subJoytick, 6).whileTrue(new InstantCommand(()-> m_shooter.ShooterThrowMotorOutput(-1)));
+ new JoystickButton(subJoytick, 6).whileFalse(new InstantCommand(()-> m_shooter.ShooterThrow1MotorStop()));
+ new JoystickButton(subJoytick, 6).whileFalse(new InstantCommand(()-> m_shooter.ShooterThrow2MotorStop()));
 
 
 

diff --git a/src/main/java/frc/robot/commands/Shooter/VisionShooter.java b/src/main/java/frc/robot/commands/Shooter/VisionShooter.java
@@ -16,7 +16,7 @@ public VisionShooter(ShooterSubsystem m_shooter, NetworkSubsystem m_network) {
             0,
             Constants.values.shooter.PidShooterAngleKD),
         () -> m_network.getY(),
-        () -> -100,
+        () -> -165,
         output -> {
          /*  try {
             m_shooter.ShooterAngleMotorOutput(output * .13);
@@ -25,9 +25,15 @@ public VisionShooter(ShooterSubsystem m_shooter, NetworkSubsystem m_network) {
           } catch (InterruptedException e) {
             e.printStackTrace();
         }*/
-        m_shooter.ShooterAngleMotorOutput(output * .13);
 
-        });
+
+
+
+
+
+  m_shooter.ShooterAngleMotorOutput(output * .13);
+});
+
     addRequirements(m_shooter);
     getController().setTolerance(5);
 

diff --git a/src/main/java/frc/robot/subsystems/NetworkSubsystem.java b/src/main/java/frc/robot/subsystems/NetworkSubsystem.java
@@ -13,6 +13,8 @@ public class NetworkSubsystem extends SubsystemBase {
 
   double apriltag_x_value;
   double apriltag_y_value;
+  boolean has_apriltag_value;
+
 
   public NetworkTableInstance inst = NetworkTableInstance.getDefault();
   //table
@@ -24,13 +26,18 @@ public class NetworkSubsystem extends SubsystemBase {
   //entry
   public NetworkTableEntry apriltag_x = networkTable.getEntry("apriltag_x");
   public NetworkTableEntry apriltag_y = networkTable.getEntry("apriltag_y");
+  public NetworkTableEntry has_apriltag = networkTable.getEntry("has_apriltag");
 
   public NetworkSubsystem() {
    // inst.setServerTeam(7672);
     //inst.startServer("10.76.72.2");
     inst.setServerTeam(7672);
   }
 
+  public boolean hasApriltag(){
+    return has_apriltag_value;
+  }
+
   public double getX(){
     return apriltag_x_value;
   }
@@ -43,6 +50,9 @@ public double getY(){
   public void periodic() {
     apriltag_x_value = apriltag_x.getDouble(0.0);
     apriltag_y_value = apriltag_y.getDouble(0.0);
+    has_apriltag_value = has_apriltag.getBoolean(false);
+
+    SmartDashboard.putBoolean("Has apriltag", has_apriltag_value);
     SmartDashboard.putNumber("apriltag x value", apriltag_x_value);
     SmartDashboard.putNumber("apriltag y value", apriltag_y_value);
     SmartDashboard.putBoolean("connection",inst.isConnected());

diff --git a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java
@@ -45,6 +45,16 @@ public void brakemode1() {
 
   }
 
+  public boolean whichSide(){
+
+if(getMappedOutput() > 90){
+  return true;
+}
+else{
+  return false;
+}
+  }
+
   public void brakemode2() {
    ShooterThrowMotor2.setIdleMode(IdleMode.kBrake);