From 89e27217c723d43b12d6cbcd01f7073d23d5851b Mon Sep 17 00:00:00 2001 From: Miya Date: Tue, 26 Sep 2023 16:15:18 -0700 Subject: [PATCH] put constants into score steps --- src/main/java/frc/robot/Constants.java | 32 +++++++++++--------------- 1 file changed, 13 insertions(+), 19 deletions(-) diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 7244b30..491c28e 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -201,11 +201,11 @@ public static final class Setpoints { public static final ElevatorState SHELF_INTAKE = new ElevatorState(20, 20); public static final ElevatorState GROUND_INTAKE = new Elevator(0, 0); public static final ElevatorState SCORE_HIGH = new Elevator(MAX_HEIGHT, 0); - public static final ElevatorState SCORE_MID = new Elevator(15, 0); - public static final ElevatorState SCORE_LOW = new Elevator(0, 0); + public static final ElevatorState SCORE_MID = new Elevator(15, 20); + public static final ElevatorState SCORE_LOW = new Elevator(MIN_HEIGHT, 40); } - public static final double MAX_HEIGHT = 10; + public static final double MAX_HEIGHT = 20; public static final double MIN_HEIGHT = 0; public static final int ELEVATOR_TICKS = 2048; @@ -234,35 +234,29 @@ public static final class Ports { Map.of( NodeType.CONE.atHeight(Height.HIGH), List.of( - new ScoreStep(new ElevatorState(Elevator.MAX_HEIGHT, 102.5)), - new ScoreStep(new ElevatorState(Elevator.MIN_HEIGHT, 102.5)).canWaitHere(), - new ScoreStep(new ElevatorState(Elevator.MAX_HEIGHT, 87)).canWaitHere(), + new ScoreStep(new ElevatorState(Elevator.SCORE_HIGH)).canWaitHere(), new ScoreStep( - new ElevatorState(Elevator.MIN_HEIGHT, 97), IntakeSubsystem.Modes.OUTTAKE)), + new ElevatorState(Elevator.SCORE_HIGH), IntakeSubsystem.Modes.OUTTAKE)), NodeType.CONE.atHeight(Height.MID), List.of( - new ScoreStep(new ElevatorState(Elevator.MIN_HEIGHT, 90)), - new ScoreStep(new ElevatorState(6, 90)).canWaitHere(), - new ScoreStep(new ElevatorState(6, 72)).canWaitHere(), - new ScoreStep(new ArmState(Elevator.MIN_HEIGHT, 72), IntakeSubsystem.Modes.OUTTAKE)), + new ScoreStep(new ElevatorState(Elevator.SCORE_MID)).canWaitHere(), + new ScoreStep(new ArmState(Elevator.SCORE_MID), IntakeSubsystem.Modes.OUTTAKE)), NodeType.CONE.atHeight(Height.LOW), List.of( - new ScoreStep(new ElevatorState(Elevator.MIN_HEIGHT, 27.7)).canWaitHere(), + new ScoreStep(new ElevatorState(Elevator.SCORE_LOW)).canWaitHere(), new ScoreStep(IntakeSubsystem.Modes.OUTTAKE)), NodeType.CUBE.atHeight(Height.HIGH), List.of( - new ScoreStep(new ElevatorState(Elevator.MIN_HEIGHT, 95)), - new ScoreStep(new ElevatorState(20, 95)).canWaitHere(), - new ScoreStep(new ArmState(Elevator.MIN_HEIGHT, 95), IntakeSubsystem.Modes.OUTTAKE)), + new ScoreStep(new ElevatorState(Elevator.SCORE_HIGH))canWaitHere(), + new ScoreStep(new ArmState(Elevator.SCORE_HIGH), IntakeSubsystem.Modes.OUTTAKE)), NodeType.CUBE.atHeight(Height.MID), List.of( - new ScoreStep(new ElevatorState(Elevator.MIN_HEIGHT, 67.32)), - new ScoreStep(new ElevatorState(0.75, 67.32)).canWaitHere(), + new ScoreStep(new ElevatorState(Elevator.SCORE_MID)).canWaitHere(), new ScoreStep( - new ElevatorState(Elevator.MIN_HEIGHT, 67.32), IntakeSubsystem.Modes.OUTTAKE)), + new ElevatorState(Elevator.SCORE_MID), IntakeSubsystem.Modes.OUTTAKE)), NodeType.CUBE.atHeight(Height.LOW), List.of( - new ScoreStep(new ElevatorState(Elevator.MIN_HEIGHT, 29.7)).canWaitHere(), + new ScoreStep(new ElevatorState(Elevator.SCORE_LOW)).canWaitHere(), new ScoreStep(IntakeSubsystem.Modes.OUTTAKE))); public static final class Vision {