From 6f8e14997fdad7231595b26e87b146ad142e5e90 Mon Sep 17 00:00:00 2001 From: Jay Date: Sat, 11 Nov 2023 16:46:35 -0800 Subject: [PATCH] FIXME make cube default ground intake my solution is very jank. make it so isCone instead of isCube later --- src/main/java/frc/robot/Constants.java | 2 +- src/main/java/frc/robot/commands/DefaultDriveCommand.java | 4 ++-- .../java/frc/robot/commands/GroundIntakeElevatorCommand.java | 2 +- src/main/java/frc/robot/commands/IntakeModeCommand.java | 2 +- 4 files changed, 5 insertions(+), 5 deletions(-) diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 98414c9..266081b 100644 --- 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 index 540e1e5..5283e96 100644 --- 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 index bd04d94..1cea6fb 100644 --- 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 index a2d860f..578e0ba 100644 --- 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()); } }