From 976b77ff98b54717374fdc675caea62ba7bb2af1 Mon Sep 17 00:00:00 2001 From: Timothy Bevis Date: Tue, 3 Oct 2023 11:27:05 -0400 Subject: [PATCH 1/3] Update absolute encoder and add functionality to sequences. --- src/main/java/frc/robot/ArmPresets.java | 4 ++-- src/main/java/frc/robot/Robot.java | 5 +++-- src/main/java/frc/robot/maps/FrostBiteMap.java | 2 +- 3 files changed, 6 insertions(+), 5 deletions(-) diff --git a/src/main/java/frc/robot/ArmPresets.java b/src/main/java/frc/robot/ArmPresets.java index b8e903c1..83cbcb6a 100644 --- a/src/main/java/frc/robot/ArmPresets.java +++ b/src/main/java/frc/robot/ArmPresets.java @@ -21,8 +21,8 @@ public enum ArmPresets { 76.3), // Human Player Station = HPS - HPS_PICKUP(0, 77, - 72), + HPS_PICKUP(0, 76.3, + 71.3), ARM_STOWED(1, 2, 1), diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 4fb6f8f0..9a2c627d 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -154,11 +154,12 @@ public CommandBase rumbleAndIntakeSpinningOff() { public CommandBase pickUpGamePiece = sequence( new ConditionalCommand( sequence( - armRotate.moveTo(ArmPresets.CONE_PICKUP), armExtend.moveTo(ArmPresets.CONE_PICKUP)), + armRotate.moveTo(ArmPresets.CONE_PICKUP), armExtend.moveTo(ArmPresets.CONE_PICKUP), + intake.toggle()), sequence( armRotate.moveTo(ArmPresets.CUBE_PICKUP), armExtend.moveTo( ArmPresets.CUBE_PICKUP), - intake.coneRelease()), + intake.coneRelease(), intake.toggle()), () -> { return gamePieceSub.get() == "Cone"; })); diff --git a/src/main/java/frc/robot/maps/FrostBiteMap.java b/src/main/java/frc/robot/maps/FrostBiteMap.java index 22a12dc3..8f046edb 100644 --- a/src/main/java/frc/robot/maps/FrostBiteMap.java +++ b/src/main/java/frc/robot/maps/FrostBiteMap.java @@ -177,7 +177,7 @@ public ArmRotateMap getArmRotateMap() { absEncoder.setDutyCycleRange(1.0 / 1025.0, 1024.0 / 1025.0); absEncoder.setDistancePerRotation(-360); // Adjust this to move the encoder zero point to the retracted position - absEncoder.setPositionOffset(91.89780758483522 - 7); + absEncoder.setPositionOffset(8); CSFusedEncoder fusedEncoder = new CSFusedEncoder(encoder, absEncoder); From 27fdf68e32bb8e0abbeaef36a0c8412b9cecd200 Mon Sep 17 00:00:00 2001 From: Timothy Bevis Date: Thu, 5 Oct 2023 19:38:33 -0400 Subject: [PATCH 2/3] Update Abs. Encoder Value --- src/main/java/frc/robot/maps/FrostBiteMap.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/maps/FrostBiteMap.java b/src/main/java/frc/robot/maps/FrostBiteMap.java index 8f046edb..6cca09b4 100644 --- a/src/main/java/frc/robot/maps/FrostBiteMap.java +++ b/src/main/java/frc/robot/maps/FrostBiteMap.java @@ -177,7 +177,7 @@ public ArmRotateMap getArmRotateMap() { absEncoder.setDutyCycleRange(1.0 / 1025.0, 1024.0 / 1025.0); absEncoder.setDistancePerRotation(-360); // Adjust this to move the encoder zero point to the retracted position - absEncoder.setPositionOffset(8); + absEncoder.setPositionOffset(66.8); CSFusedEncoder fusedEncoder = new CSFusedEncoder(encoder, absEncoder); From a80431e2e52761b0412c18a510f3218d826f3bfe Mon Sep 17 00:00:00 2001 From: "Liam.murray" Date: Thu, 19 Oct 2023 20:41:47 -0400 Subject: [PATCH 3/3] Updated absolute encoder value --- src/main/java/frc/robot/maps/FrostBiteMap.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/maps/FrostBiteMap.java b/src/main/java/frc/robot/maps/FrostBiteMap.java index 6cca09b4..ae6d82e9 100644 --- a/src/main/java/frc/robot/maps/FrostBiteMap.java +++ b/src/main/java/frc/robot/maps/FrostBiteMap.java @@ -177,7 +177,7 @@ public ArmRotateMap getArmRotateMap() { absEncoder.setDutyCycleRange(1.0 / 1025.0, 1024.0 / 1025.0); absEncoder.setDistancePerRotation(-360); // Adjust this to move the encoder zero point to the retracted position - absEncoder.setPositionOffset(66.8); + absEncoder.setPositionOffset(54.8); CSFusedEncoder fusedEncoder = new CSFusedEncoder(encoder, absEncoder);