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Merged
spellingcat merged 10 commits into from
Mar 27, 2026
Merged

changes on 3/23 #74

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04da160
try without +1
vivi-o Mar 24, 2026
3b9732f
nvm
vivi-o Mar 24, 2026
1ec1381
use new auto aim for deadzone
vivi-o Mar 24, 2026
a1d7ede
no more rumble for operator in deadzone
vivi-o Mar 24, 2026
a615d0f
notify operator when 10s left and log it
vivi-o Mar 24, 2026
d2fdc0b
operator rezero turret with right stick
vivi-o Mar 24, 2026
170d671
small fix with 10s thing
vivi-o Mar 24, 2026
0b43d0e
operator mistake
vivi-o Mar 24, 2026
9027117
Merge branch 'main' into 3-23-new-changes
spellingcat Mar 27, 2026
c303f78
supplierify
spellingcat Mar 27, 2026
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18 changes: 13 additions & 5 deletions src/main/java/frc/robot/Robot.java
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Original file line number Diff line number Diff line change
Expand Up @@ -680,12 +680,12 @@ 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));

driver.povUp().whileTrue(shooter.currentZeroTurretAgainstForwardHardstop());

driver
Expand All @@ -706,6 +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()
Expand Down
17 changes: 17 additions & 0 deletions src/main/java/frc/robot/Superstructure.java
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Original file line number Diff line number Diff line change
Expand Up @@ -823,6 +823,23 @@ public boolean isOurShift() {
}
}

public boolean tenSecsLeftInOffShift() {
if (!isOurShift() && (10.0 <= getTimeLeftInShift() && getTimeLeftInShift() <= 11.0)) {
return true;
} else {
return false;
}
}

@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;
Expand Down
14 changes: 7 additions & 7 deletions src/main/java/frc/robot/utils/autoaim/AutoAim.java
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Original file line number Diff line number Diff line change
Expand Up @@ -63,43 +63,43 @@ 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,
Expand Down
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