FIXME make cube default ground intake

my solution is very jank. make it so isCone instead of isCube later
Iron-Panthers · Nov 12, 2023 · 6f8e149 · 6f8e149
1 parent 970f36c
commit 6f8e149
Show file tree

Hide file tree

Showing 4 changed files with 5 additions and 5 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -207,7 +207,7 @@ public static final class Setpoints {
       public static final ElevatorState GROUND_INTAKE_CONE =
           new ElevatorState(MIN_EXTENSION_INCHES, 72.5);
       public static final ElevatorState GROUND_INTAKE_CUBE =
-          new ElevatorState(MIN_EXTENSION_INCHES, 85);
+          new ElevatorState(MIN_EXTENSION_INCHES, 83);
       public static final ElevatorState SCORE_HIGH_CONE = new ElevatorState(43, 52.5);
       public static final ElevatorState SCORE_HIGH_CUBE = new ElevatorState(53.8, 74.5);
       public static final ElevatorState SCORE_MID_CONE = new ElevatorState(22.5, 35.5);

diff --git a/src/main/java/frc/robot/commands/DefaultDriveCommand.java b/src/main/java/frc/robot/commands/DefaultDriveCommand.java
@@ -46,8 +46,8 @@ public DefaultDriveCommand(
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    double x = MathUtil.clamp(translationXSupplier.getAsDouble(), -0.9, 0.9);
-    double y = MathUtil.clamp(translationYSupplier.getAsDouble(), -0.9, 0.9);
+    double x = translationXSupplier.getAsDouble();
+    double y = translationYSupplier.getAsDouble();
     Boolean forwardRelative = isRobotRelativeForwardSupplier.getAsBoolean();
     // Boolean backwardRelative = isRobotRelativeBackwardSupplier.getAsBoolean();
 

diff --git a/src/main/java/frc/robot/commands/GroundIntakeElevatorCommand.java b/src/main/java/frc/robot/commands/GroundIntakeElevatorCommand.java
@@ -25,7 +25,7 @@ public void initialize() {
 
   @Override
   public void execute() {
-    if (isCube.getAsBoolean()) {
+    if (!isCube.getAsBoolean()) {
       elevatorSubsystem.setTargetState(Constants.Elevator.Setpoints.GROUND_INTAKE_CUBE);
     } else {
       elevatorSubsystem.setTargetState(Constants.Elevator.Setpoints.GROUND_INTAKE_CONE);

diff --git a/src/main/java/frc/robot/commands/IntakeModeCommand.java b/src/main/java/frc/robot/commands/IntakeModeCommand.java
@@ -42,7 +42,7 @@ public void initialize() {
   @Override
   public void execute() {
     if (isCone != null) {
-      intakeSubsystem.setIsCube(isCone.getAsBoolean());
+      intakeSubsystem.setIsCube(!isCone.getAsBoolean());
     }
   }