its over

Iron-Panthers · Nov 13, 2023 · f47a927 · f47a927
1 parent 8a5e9f5
commit f47a927
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Showing 8 changed files with 9 additions and 9 deletions.
diff --git a/src/main/java/frc/robot/autonomous/commands/N3_1ConePlusMobility.java b/src/main/java/frc/robot/autonomous/commands/N3_1ConePlusMobility.java
@@ -37,7 +37,7 @@ public N3_1ConePlusMobility(
     addCommands(
         new SetZeroModeCommand(elevatorSubsystem)
             .deadlineWith(
-                new IntakeModeCommand(intakeSubsystem, IntakeSubsystem.Modes.INTAKE, () -> false)),
+                new IntakeModeCommand(intakeSubsystem, IntakeSubsystem.Modes.INTAKE, () -> true)),
         new ScoreCommand(
             intakeSubsystem,
             elevatorSubsystem,

diff --git a/src/main/java/frc/robot/autonomous/commands/N3_1ConePlusMobilityEngage.java b/src/main/java/frc/robot/autonomous/commands/N3_1ConePlusMobilityEngage.java
@@ -41,7 +41,7 @@ public N3_1ConePlusMobilityEngage(
 
     addCommands(
         new SetZeroModeCommand(elevatorSubsystem)
-            .deadlineWith(new IntakeModeCommand(intakeSubsystem, Modes.INTAKE, () -> false)),
+            .deadlineWith(new IntakeModeCommand(intakeSubsystem, Modes.INTAKE, () -> true)),
         new ScoreCommand(
             intakeSubsystem,
             elevatorSubsystem,

diff --git a/src/main/java/frc/robot/autonomous/commands/N6_1Cone.java b/src/main/java/frc/robot/autonomous/commands/N6_1Cone.java
@@ -30,7 +30,7 @@ public N6_1Cone(
 
     addCommands(
         new SetZeroModeCommand(elevatorSubsystem)
-            .deadlineWith(new IntakeModeCommand(intakeSubsystem, Modes.INTAKE, () -> false)),
+            .deadlineWith(new IntakeModeCommand(intakeSubsystem, Modes.INTAKE, () -> true)),
         new ScoreCommand(
             intakeSubsystem,
             elevatorSubsystem,

diff --git a/src/main/java/frc/robot/autonomous/commands/N6_1ConePlusEngage.java b/src/main/java/frc/robot/autonomous/commands/N6_1ConePlusEngage.java
@@ -39,7 +39,7 @@ public N6_1ConePlusEngage(
 
     addCommands(
         new SetZeroModeCommand(elevatorSubsystem)
-            .deadlineWith(new IntakeModeCommand(intakeSubsystem, Modes.INTAKE, () -> false)),
+            .deadlineWith(new IntakeModeCommand(intakeSubsystem, Modes.INTAKE, () -> true)),
         new ScoreCommand(
             intakeSubsystem,
             elevatorSubsystem,

diff --git a/src/main/java/frc/robot/autonomous/commands/N9_1ConePlus2CubeMobility.java b/src/main/java/frc/robot/autonomous/commands/N9_1ConePlus2CubeMobility.java
@@ -39,7 +39,7 @@ public N9_1ConePlus2CubeMobility(
 
     addCommands(
         new SetZeroModeCommand(elevatorSubsystem)
-            .deadlineWith(new IntakeModeCommand(intakeSubsystem, Modes.INTAKE, () -> false)),
+            .deadlineWith(new IntakeModeCommand(intakeSubsystem, Modes.INTAKE, () -> true)),
         new ScoreCommand(
             intakeSubsystem,
             elevatorSubsystem,

diff --git a/src/main/java/frc/robot/autonomous/commands/N9_1ConePlusMobility.java b/src/main/java/frc/robot/autonomous/commands/N9_1ConePlusMobility.java
@@ -38,7 +38,7 @@ public N9_1ConePlusMobility(
     addCommands(
         new SetZeroModeCommand(elevatorSubsystem)
             .deadlineWith(
-                new IntakeModeCommand(intakeSubsystem, IntakeSubsystem.Modes.INTAKE, () -> false)),
+                new IntakeModeCommand(intakeSubsystem, IntakeSubsystem.Modes.INTAKE, () -> true)),
         new ScoreCommand(
             intakeSubsystem,
             elevatorSubsystem,

diff --git a/src/main/java/frc/robot/autonomous/commands/N9_1ConePlusMobilityEngage.java b/src/main/java/frc/robot/autonomous/commands/N9_1ConePlusMobilityEngage.java
@@ -41,7 +41,7 @@ public N9_1ConePlusMobilityEngage(
     addCommands(
         new SetZeroModeCommand(elevatorSubsystem)
             .deadlineWith(
-                new IntakeModeCommand(intakeSubsystem, IntakeSubsystem.Modes.INTAKE, () -> false)),
+                new IntakeModeCommand(intakeSubsystem, IntakeSubsystem.Modes.INTAKE, () -> true)),
         new ScoreCommand(
             intakeSubsystem,
             elevatorSubsystem,

diff --git a/src/main/java/frc/robot/subsystems/ElevatorSubsystem.java b/src/main/java/frc/robot/subsystems/ElevatorSubsystem.java
@@ -266,7 +266,7 @@ private void percentDrivePeriodic() {
     if (wristFilterOutput > Elevator.STATOR_LIMIT) {
       wristMotor.set(TalonFXControlMode.PercentOutput, 0);
     } else {
-      wristMotor.set(TalonFXControlMode.PercentOutput, MathUtil.clamp(wristPercentControl, -1, 1));
+      wristMotor.set(TalonFXControlMode.PercentOutput, MathUtil.clamp(wristPercentControl, -0.75, 0.75));
     }
   }
 
@@ -292,7 +292,7 @@ private void positionDrivePeriodic() {
     } else {
       wristMotor.set(
           TalonFXControlMode.PercentOutput,
-          MathUtil.clamp(wristController.calculate(currentWristAngle, targetAngle), -1, 1));
+          MathUtil.clamp(wristController.calculate(currentWristAngle, targetAngle), -0.75, 0.75));
     }
   }