From 04da160f354af36058d237cb7e1b449e13cc2062 Mon Sep 17 00:00:00 2001 From: vivi-o Date: Mon, 23 Mar 2026 18:43:26 -0700 Subject: [PATCH 1/9] try without +1 --- .../java/frc/robot/utils/autoaim/AutoAim.java | 30 +++++++++---------- 1 file changed, 15 insertions(+), 15 deletions(-) diff --git a/src/main/java/frc/robot/utils/autoaim/AutoAim.java b/src/main/java/frc/robot/utils/autoaim/AutoAim.java index ac3dab99..4f0eb18d 100644 --- a/src/main/java/frc/robot/utils/autoaim/AutoAim.java +++ b/src/main/java/frc/robot/utils/autoaim/AutoAim.java @@ -63,91 +63,91 @@ public class AutoAim { 1.716849, new ShotData( Rotation2d.fromDegrees(23 - 13.16), - 30 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO + 1, + 30 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO, // + 1, 0.8)); COMP_HUB_SHOT_TREE.put( 2.017596, new ShotData( Rotation2d.fromDegrees(23 - 13.16), - 33 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO + 1, + 33 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO, // + 1, 0.9)); COMP_HUB_SHOT_TREE.put( 2.423868, new ShotData( Rotation2d.fromDegrees(25 - 13.16), - 35 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO + 1, + 35 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO, // + 1, 1.1)); COMP_HUB_SHOT_TREE.put( 2.664198, new ShotData( Rotation2d.fromDegrees(26 - 13.16), - 36 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO + 1, + 36 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO, // + 1, 1.2)); COMP_HUB_SHOT_TREE.put( 2.903207, new ShotData( Rotation2d.fromDegrees(30 - 13.16), - 35 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO + 1, + 35 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO, // + 1, 1.2)); COMP_HUB_SHOT_TREE.put( 3.156802, new ShotData( Rotation2d.fromDegrees(32 - 13.16), - 35 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO + 1, + 35 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO, // + 1, 1.23)); COMP_HUB_SHOT_TREE.put( 3.437033, new ShotData( Rotation2d.fromDegrees(34 - 13.16), - 35 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO + 1, + 35 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO, // + 1, 1.25)); COMP_HUB_SHOT_TREE.put( 3.611052, new ShotData( Rotation2d.fromDegrees(38 - 13.16), - 34 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO + 1, + 34 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO, // + 1, 1.24)); COMP_HUB_SHOT_TREE.put( 3.773999, new ShotData( Rotation2d.fromDegrees(39 - 13.16), - 34 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO + 1, + 34 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO, // + 1, 1.21)); COMP_HUB_SHOT_TREE.put( 3.899275, new ShotData( Rotation2d.fromDegrees(40 - 13.16), - 34 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO + 1, + 34 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO, // + 1, 1.2)); COMP_HUB_SHOT_TREE.put( 4.138058, new ShotData( Rotation2d.fromDegrees(41 - 13.16), - 34 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO + 1, + 34 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO, // + 1, 1.13)); COMP_HUB_SHOT_TREE.put( 4.602258, new ShotData( Rotation2d.fromDegrees(43 - 13.16), - 34.5 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO + 1, + 34.5 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO, // + 1, 1.15)); COMP_HUB_SHOT_TREE.put( 4.893493, new ShotData( Rotation2d.fromDegrees(45 - 13.16), - 35 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO + 1, + 35 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO, // + 1, 1.2)); COMP_HUB_SHOT_TREE.put( 5.225402, new ShotData( Rotation2d.fromDegrees(47 - 13.16), - 35 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO + 1, + 35 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO, // + 1, 1.2)); COMP_HUB_SHOT_TREE.put( 5.584793, new ShotData( Rotation2d.fromDegrees(49 - 13.16), - 35.5 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO + 1, + 35.5 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO, // + 1, 1.17)); } From 3b9732fc5f7d800e355a9d0935427cecc683cd62 Mon Sep 17 00:00:00 2001 From: vivi-o Date: Mon, 23 Mar 2026 19:05:16 -0700 Subject: [PATCH 2/9] nvm --- .../java/frc/robot/utils/autoaim/AutoAim.java | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/src/main/java/frc/robot/utils/autoaim/AutoAim.java b/src/main/java/frc/robot/utils/autoaim/AutoAim.java index 4f0eb18d..4dc7f17f 100644 --- a/src/main/java/frc/robot/utils/autoaim/AutoAim.java +++ b/src/main/java/frc/robot/utils/autoaim/AutoAim.java @@ -105,49 +105,49 @@ public class AutoAim { 3.611052, new ShotData( Rotation2d.fromDegrees(38 - 13.16), - 34 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO, // + 1, + 34 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO + 1, 1.24)); COMP_HUB_SHOT_TREE.put( 3.773999, new ShotData( Rotation2d.fromDegrees(39 - 13.16), - 34 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO, // + 1, + 34 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO + 1, 1.21)); COMP_HUB_SHOT_TREE.put( 3.899275, new ShotData( Rotation2d.fromDegrees(40 - 13.16), - 34 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO, // + 1, + 34 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO + 1, 1.2)); COMP_HUB_SHOT_TREE.put( 4.138058, new ShotData( Rotation2d.fromDegrees(41 - 13.16), - 34 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO, // + 1, + 34 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO + 1, 1.13)); COMP_HUB_SHOT_TREE.put( 4.602258, new ShotData( Rotation2d.fromDegrees(43 - 13.16), - 34.5 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO, // + 1, + 34.5 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO + 1, 1.15)); COMP_HUB_SHOT_TREE.put( 4.893493, new ShotData( Rotation2d.fromDegrees(45 - 13.16), - 35 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO, // + 1, + 35 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO + 1, 1.2)); COMP_HUB_SHOT_TREE.put( 5.225402, new ShotData( Rotation2d.fromDegrees(47 - 13.16), - 35 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO, // + 1, + 35 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO + 1, 1.2)); COMP_HUB_SHOT_TREE.put( 5.584793, new ShotData( Rotation2d.fromDegrees(49 - 13.16), - 35.5 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO, // + 1, + 35.5 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO + 1, 1.17)); } From 1ec13814d45a17d076e468f2af6a8b5030a48630 Mon Sep 17 00:00:00 2001 From: vivi-o Date: Mon, 23 Mar 2026 19:11:07 -0700 Subject: [PATCH 3/9] use new auto aim for deadzone --- src/main/java/frc/robot/Superstructure.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/Superstructure.java b/src/main/java/frc/robot/Superstructure.java index d1d22ed6..c3306c42 100644 --- a/src/main/java/frc/robot/Superstructure.java +++ b/src/main/java/frc/robot/Superstructure.java @@ -385,7 +385,7 @@ private void addTransitions() { bindTransition( SuperState.FEED_FLOW, SuperState.SPIN_UP_FEED_FLOW, - new Trigger(AutoAim::targetInTurretDeadzone)); + new Trigger(NewAutoAim::targetInTurretDeadzone)); bindTransition( SuperState.SPIN_UP_FEED_FLOW, SuperState.IDLE, intakeReq.negate().and(shootReq.negate())); From a1d7edeb914ef590ee726852ddc1b710d2bc76fc Mon Sep 17 00:00:00 2001 From: vivi-o Date: Mon, 23 Mar 2026 19:23:20 -0700 Subject: [PATCH 4/9] no more rumble for operator in deadzone --- src/main/java/frc/robot/Robot.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 33af4858..2035b16a 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -684,8 +684,8 @@ private void addControllerBindings(Indexer indexer, Shooter shooter, Intake inta .onTrue( driver .rumbleCmd(1, 1) - .withTimeout(0.25) - .alongWith(operator.rumbleCmd(1, 1).withTimeout(0.25))); + .withTimeout(0.25)); + // .alongWith(operator.rumbleCmd(1, 1).withTimeout(0.25))); // ---zeroing stuff--- driver.povUp().whileTrue(shooter.currentZeroTurretAgainstForwardHardstop()); From a615d0f60213a77ea7ed2a0a1ea0dcc7a0fbc4f9 Mon Sep 17 00:00:00 2001 From: vivi-o Date: Mon, 23 Mar 2026 19:36:17 -0700 Subject: [PATCH 5/9] notify operator when 10s left and log it --- src/main/java/frc/robot/Robot.java | 2 ++ src/main/java/frc/robot/Superstructure.java | 9 +++++++++ 2 files changed, 11 insertions(+) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 2035b16a..b3a56807 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -687,6 +687,8 @@ private void addControllerBindings(Indexer indexer, Shooter shooter, Intake inta .withTimeout(0.25)); // .alongWith(operator.rumbleCmd(1, 1).withTimeout(0.25))); // ---zeroing stuff--- + new Trigger(() -> superstructure.tenSecsLeftInOffShift()).onTrue(operator.rumbleCmd(1, 1).withTimeout(0.25)); + driver.povUp().whileTrue(shooter.currentZeroTurretAgainstForwardHardstop()); driver diff --git a/src/main/java/frc/robot/Superstructure.java b/src/main/java/frc/robot/Superstructure.java index c3306c42..d412b5ad 100644 --- a/src/main/java/frc/robot/Superstructure.java +++ b/src/main/java/frc/robot/Superstructure.java @@ -864,6 +864,15 @@ public boolean isOurShift() { } } + @AutoLogOutput(key = "10s Left (in off shift)") + public boolean tenSecsLeftInOffShift() { + if (!isOurShift() && (10.0 <= getTimeLeftInShift() && getTimeLeftInShift() <=11.0)) { + return true; + } else { + return false; + } + } + public boolean inScoringArea() { // return true; if (swerve == null) return false; From d2fdc0b7a4cd908a60da226b27c6b76be1d75e7e Mon Sep 17 00:00:00 2001 From: vivi-o Date: Mon, 23 Mar 2026 19:46:49 -0700 Subject: [PATCH 6/9] operator rezero turret with right stick --- src/main/java/frc/robot/Robot.java | 18 ++++++++++++------ src/main/java/frc/robot/Superstructure.java | 2 +- 2 files changed, 13 insertions(+), 7 deletions(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index b3a56807..7f5c5d7a 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -681,13 +681,11 @@ private void addControllerBindings(Indexer indexer, Shooter shooter, Intake inta shooter.runHoodCurrentZeroing(), intake.runCurrentZeroing()))); new Trigger(() -> NewAutoAim.targetInTurretDeadzone()) - .onTrue( - driver - .rumbleCmd(1, 1) - .withTimeout(0.25)); - // .alongWith(operator.rumbleCmd(1, 1).withTimeout(0.25))); + .onTrue(driver.rumbleCmd(1, 1).withTimeout(0.25)); + // .alongWith(operator.rumbleCmd(1, 1).withTimeout(0.25))); // ---zeroing stuff--- - new Trigger(() -> superstructure.tenSecsLeftInOffShift()).onTrue(operator.rumbleCmd(1, 1).withTimeout(0.25)); + new Trigger(() -> superstructure.tenSecsLeftInOffShift()) + .onTrue(operator.rumbleCmd(1, 1).withTimeout(0.25)); driver.povUp().whileTrue(shooter.currentZeroTurretAgainstForwardHardstop()); @@ -708,6 +706,14 @@ private void addControllerBindings(Indexer indexer, Shooter shooter, Intake inta .onTrue(Commands.runOnce(() -> leftClimbTarget = false)); // I HATE THIS! operator.leftStick().whileTrue(Commands.parallel(intake.restRetracted(), shooter.stopTurret())); + operator + .rightStick() + .onTrue( + Commands.runOnce( + () -> + shooter + .resetTurretToPosition(shooter.getCalculatedTurretRotations()) + .ignoringDisable(true))); driver .rightBumper() diff --git a/src/main/java/frc/robot/Superstructure.java b/src/main/java/frc/robot/Superstructure.java index d412b5ad..2ffc1011 100644 --- a/src/main/java/frc/robot/Superstructure.java +++ b/src/main/java/frc/robot/Superstructure.java @@ -866,7 +866,7 @@ public boolean isOurShift() { @AutoLogOutput(key = "10s Left (in off shift)") public boolean tenSecsLeftInOffShift() { - if (!isOurShift() && (10.0 <= getTimeLeftInShift() && getTimeLeftInShift() <=11.0)) { + if (!isOurShift() && (10.0 <= getTimeLeftInShift() && getTimeLeftInShift() <= 11.0)) { return true; } else { return false; From 170d671288fbf5b53fcee866025b0d7eb9af2b02 Mon Sep 17 00:00:00 2001 From: vivi-o Date: Mon, 23 Mar 2026 19:54:26 -0700 Subject: [PATCH 7/9] small fix with 10s thing --- src/main/java/frc/robot/Superstructure.java | 10 +++++++++- 1 file changed, 9 insertions(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/Superstructure.java b/src/main/java/frc/robot/Superstructure.java index 2ffc1011..61826439 100644 --- a/src/main/java/frc/robot/Superstructure.java +++ b/src/main/java/frc/robot/Superstructure.java @@ -864,7 +864,6 @@ public boolean isOurShift() { } } - @AutoLogOutput(key = "10s Left (in off shift)") public boolean tenSecsLeftInOffShift() { if (!isOurShift() && (10.0 <= getTimeLeftInShift() && getTimeLeftInShift() <= 11.0)) { return true; @@ -873,6 +872,15 @@ public boolean tenSecsLeftInOffShift() { } } + @AutoLogOutput(key = "10s Left (in off shift)") + public boolean lessThanTenSecsLeftInOffShift() { + if (!isOurShift() && (10.0 >= getTimeLeftInShift())) { + return true; + } else { + return false; + } + } + public boolean inScoringArea() { // return true; if (swerve == null) return false; From 0b43d0e483022e3801aa4a69066afb9f665e30ee Mon Sep 17 00:00:00 2001 From: vivi-o Date: Mon, 23 Mar 2026 20:06:52 -0700 Subject: [PATCH 8/9] operator mistake --- src/main/java/frc/robot/Superstructure.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/Superstructure.java b/src/main/java/frc/robot/Superstructure.java index 61826439..efd23070 100644 --- a/src/main/java/frc/robot/Superstructure.java +++ b/src/main/java/frc/robot/Superstructure.java @@ -874,7 +874,7 @@ public boolean tenSecsLeftInOffShift() { @AutoLogOutput(key = "10s Left (in off shift)") public boolean lessThanTenSecsLeftInOffShift() { - if (!isOurShift() && (10.0 >= getTimeLeftInShift())) { + if (!isOurShift() && (10.0 <= getTimeLeftInShift())) { return true; } else { return false; From c303f783a8d6f4b8c93d5ca3a82b19b5e0d613c8 Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Fri, 27 Mar 2026 12:57:36 -0700 Subject: [PATCH 9/9] supplierify --- src/main/java/frc/robot/Robot.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index caad9034..7b5a7b14 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -712,7 +712,7 @@ private void addControllerBindings(Indexer indexer, Shooter shooter, Intake inta Commands.runOnce( () -> shooter - .resetTurretToPosition(shooter.getCalculatedTurretRotations()) + .resetTurretToPosition(shooter::getCalculatedTurretRotations) .ignoringDisable(true))); driver