refined it a little

PikeRoboDevils · Nov 6, 2024 · 78cfcda · 78cfcda
1 parent d6d8d24
commit 78cfcda
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Showing 5 changed files with 15 additions and 52 deletions.
diff --git a/src/main/java/org/pikerobodevils/frc24/robot/BUILD.java b/src/main/java/org/pikerobodevils/frc24/robot/BUILD.java
@@ -7,12 +7,12 @@ public final class BUILD {
   public static final String MAVEN_GROUP = "";
   public static final String MAVEN_NAME = "FRC-1018-2024";
   public static final String VERSION = "unspecified";
-  public static final int GIT_REVISION = 75;
-  public static final String GIT_SHA = "296122e5781a48025866c08a3716e689c6ef3c05";
-  public static final String GIT_DATE = "2024-10-22 19:38:08 EDT";
+  public static final int GIT_REVISION = 76;
+  public static final String GIT_SHA = "d6d8d2403a159a9b96c9ad2532ddcfee70ab4531";
+  public static final String GIT_DATE = "2024-10-30 15:02:59 EDT";
   public static final String GIT_BRANCH = "master";
-  public static final String BUILD_DATE = "2024-10-30 14:58:22 EDT";
-  public static final long BUILD_UNIX_TIME = 1730314702442L;
+  public static final String BUILD_DATE = "2024-11-06 18:32:31 EST";
+  public static final long BUILD_UNIX_TIME = 1730935951547L;
   public static final int DIRTY = 1;
 
   private BUILD(){}

diff --git a/src/main/java/org/pikerobodevils/frc24/robot/Constants.java b/src/main/java/org/pikerobodevils/frc24/robot/Constants.java
@@ -146,8 +146,8 @@ public static class DrivetrainConstants {
     public static final double kTrackwidthMeters = 0.6; // Double check this
     public static final DifferentialDriveKinematics kDriveKinematics =
         new DifferentialDriveKinematics(kTrackwidthMeters);
-    public static final double VOLTRAMP = 0.34;
-    public static final double SlewRateLimiter = 3; // FLAPJACK NEED THIS VERY MUCH
+    public static final double VOLTRAMP = 0.25;
+    public static final double SlewRateLimiter = 2; // FLAPJACK NEED THIS VERY MUCH
   }
 
   public static class ClimbConstants {

diff --git a/src/main/java/org/pikerobodevils/frc24/robot/RobotContainer.java b/src/main/java/org/pikerobodevils/frc24/robot/RobotContainer.java
@@ -20,7 +20,6 @@
 import org.pikerobodevils.frc24.robot.subsystems.Arm.SUBArm.ArmPosition;
 import org.pikerobodevils.frc24.robot.subsystems.Intake;
 import org.pikerobodevils.frc24.robot.subsystems.Shooter;
-import org.pikerobodevils.frc24.robot.subsystems.Camera;
 import org.pikerobodevils.frc24.robot.subsystems.climb.BotGoClimb;
 import org.pikerobodevils.frc24.robot.subsystems.climb.ClimbIO;
 import org.pikerobodevils.frc24.robot.subsystems.drive.DriveIO;
@@ -41,7 +40,6 @@ public class RobotContainer {
   private final Shooter shooterSubsystem = new Shooter();
   private final BotGoClimb climber = new BotGoClimb(ClimbIO.isReal());
   private final SUBArm arm = new SUBArm(ArmIO.isReal());
-  private final Camera vision = new Camera();
   private final ShuffleboardTab shuffleboard = Shuffleboard.getTab("Driver Dashboard");
 
   // private final SendableChooser<Command> autoChooser = new SendableChooser<>();
@@ -58,13 +56,13 @@ public RobotContainer() {
         //  drivetrain
         //      .tankDriveCommand(controlboard::getSpeed, controlboard::getSpeedRIGHT));
 
-        drivetrain
-            .arcadeDriveCommand(controlboard::getSpeed, controlboard::getTurn)
-            .withName("Default Drive Command"));
+        // drivetrain
+        //     .arcadeDriveCommand(controlboard::getSpeed, controlboard::getTurn)
+        //     .withName("Default Drive Command"));
 
-    // drivetrain
-    //        .carDriveCommand(controlboard::getSpeed, controlboard::getTurn)
-    //         .withName("Default Drive Command"));
+    drivetrain
+           .carDriveCommand(controlboard::getSpeed, controlboard::getTurn)
+            .withName("Default Drive Command"));
 
     NamedCommands.registerCommand("INTAKE", intakeSubsystem.runIntakeLIMIT());
     NamedCommands.registerCommand("SPIN", shooterSubsystem.spinUp(ShooterConstants.SHOOT_SPEED));

diff --git a/src/main/java/org/pikerobodevils/frc24/robot/subsystems/Camera.java b/src/main/java/org/pikerobodevils/frc24/robot/subsystems/Camera.java
diff --git a/src/main/java/org/pikerobodevils/frc24/robot/subsystems/drive/REALDriveIO.java b/src/main/java/org/pikerobodevils/frc24/robot/subsystems/drive/REALDriveIO.java
@@ -54,8 +54,8 @@ public REALDriveIO() {
 
     // leftLeader.enableVoltageCompensation(12.0); //bad for flapjack :(
     // rightLeader.enableVoltageCompensation(12.0); //bad for flapjack :(
-    leftLeader.setSmartCurrentLimit(40,DrivetrainConstants.CURRENT_LIMIT);
-    rightLeader.setSmartCurrentLimit(40,DrivetrainConstants.CURRENT_LIMIT);
+    leftLeader.setSmartCurrentLimit(DrivetrainConstants.CURRENT_LIMIT);
+    rightLeader.setSmartCurrentLimit(DrivetrainConstants.CURRENT_LIMIT);
 
 
     leftLeader.burnFlash();