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Bugfix/revert ai slop #65

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Merged
CameronMyhre merged 5 commits into from
Apr 11, 2026
Merged

Bugfix/revert ai slop #65

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782582a
Added in the feeder to the transfer subsystem
davidpolcen-sudo Apr 10, 2026
04b0bd9
Switched feeder from Brake mode to Coast
davidpolcen-sudo Apr 10, 2026
1219565
Removed the Canivore from the feeder
davidpolcen-sudo Apr 10, 2026
9ef124e
Merge branch 'dev' into transfer_update
davidpolcen-sudo Apr 10, 2026
97e7058
fix: fix bugs with transfer
CrumblzTheEgg Apr 11, 2026
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39 changes: 32 additions & 7 deletions src/main/java/frc/robot/Configs.java
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Original file line number Diff line number Diff line change
Expand Up @@ -126,31 +126,56 @@ public static final class Shooter {
}
}

public static final TalonFXConfiguration TRANSFER_CONFIG = new TalonFXConfiguration();
public static final TalonFXConfiguration KICKER_CONFIG = new TalonFXConfiguration();

static {

TRANSFER_CONFIG
KICKER_CONFIG
.CurrentLimits
.SupplyCurrentLimit = Constants.Transfer.CURRENT_LIMIT;

TRANSFER_CONFIG
KICKER_CONFIG
.CurrentLimits
.SupplyCurrentLowerLimit = Constants.Transfer.CURRENT_LOWER_LIMIT;

TRANSFER_CONFIG
KICKER_CONFIG
.CurrentLimits
.SupplyCurrentLowerTime = Constants.Transfer.CURRENT_LOWER_TIME;

TRANSFER_CONFIG
KICKER_CONFIG
.MotorOutput
.Inverted = Constants.Transfer.MOTOR_INVERTED ? InvertedValue.Clockwise_Positive : InvertedValue.CounterClockwise_Positive;
.Inverted = Constants.Transfer.KICKER_INVERTED ? InvertedValue.Clockwise_Positive : InvertedValue.CounterClockwise_Positive;

TRANSFER_CONFIG
KICKER_CONFIG
.MotorOutput
.NeutralMode = NeutralModeValue.Brake;
}

public static final TalonFXConfiguration FEEDER_CONFIG = new TalonFXConfiguration();

static {
FEEDER_CONFIG
.CurrentLimits
.SupplyCurrentLimit = Constants.Transfer.CURRENT_LIMIT;

FEEDER_CONFIG
.CurrentLimits
.SupplyCurrentLowerLimit = Constants.Transfer.CURRENT_LOWER_LIMIT;

FEEDER_CONFIG
.CurrentLimits
.SupplyCurrentLowerTime = Constants.Transfer.CURRENT_LOWER_TIME;

FEEDER_CONFIG
.MotorOutput
.Inverted = Constants.Transfer.FEEDER_INVERTED ? InvertedValue.Clockwise_Positive : InvertedValue.CounterClockwise_Positive;

FEEDER_CONFIG
.MotorOutput
.NeutralMode = NeutralModeValue.Coast;

}

public static class Intake {
public static TalonFXConfiguration INTAKE_CONFIGURATION = new TalonFXConfiguration();

Expand Down
10 changes: 7 additions & 3 deletions src/main/java/frc/robot/Constants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -510,15 +510,19 @@ public static final class Shooter {

}
public static class Transfer {
public static final int TRANSFER_MOTOR_ID = 58;
public static final int TRANSFER_KICKER_ID = 58;
public static final int TRANSFER_FEEDER_ID = 57;

public static final int CURRENT_LIMIT = 75; //Amps
public static final int CURRENT_LOWER_LIMIT = 25;
public static final double CURRENT_LOWER_TIME = 0.5;

public static final boolean MOTOR_INVERTED = true;
public static final boolean KICKER_INVERTED = true;
public static final boolean FEEDER_INVERTED = true;


public static final double LOAD_POWER = 0.25;
public static final double KICKER_LOAD_POWER = 0.25;
public static final double FEEDER_LOAD_POWER = 0.5;
}

public static class VisionOdometryConstants {
Expand Down
41 changes: 18 additions & 23 deletions src/main/java/frc/robot/RobotContainer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -198,14 +198,12 @@ public void setupSmartDashboard() {
.setSpeedMultiplierSupplier(() -> shooterPercent.get() / 100.0);

Command floatCommand = new ConditionalCommand(
Commands.parallel(
turretSubsystem.getFloatCommand(),
intakePivot.getFloatCommand()
)
.withTimeout(Constants.Operator.Misc.FLOAT_TIME),
Commands.none(),
() -> !FieldUtil.isEnabled()
).ignoringDisable(true);
Commands.parallel(
turretSubsystem.getFloatCommand(),
intakePivot.getFloatCommand())
.withTimeout(Constants.Operator.Misc.FLOAT_TIME),
Commands.none(),
() -> !FieldUtil.isEnabled()).ignoringDisable(true);

SmartDashboard.putData("FloatCommand", floatCommand);
SmartDashboard.putNumber("Auto/StartDelay", Constants.Operator.Auto.DEFAULT_START_DELAY);
Expand Down Expand Up @@ -369,7 +367,7 @@ public void configureBindings() {
Trigger intakeTrigger = new Trigger(() -> driverController.getRightBumperButton());

Trigger reverseTransferTrigger = new Trigger(() -> driverController.getXButton());

// Driver X button: hold to lock robot pose (X-lock)
Trigger xLockTrigger = new Trigger(() -> driverController.getXButton());
xLockTrigger.whileTrue(driveSubsystem.getLockPoseCommand());
Expand All @@ -380,13 +378,10 @@ public void configureBindings() {
targetingSupplier,
driveSubsystem::getPose,
driveSubsystem::getVelocity));



/* Transfer runs ONLY while button AND solver valid */
shootTrigger
.whileTrue(
transferSubsystem.getLoadCommand());
shootTrigger.whileTrue(
transferSubsystem.getLoadCommand());

/* Intake pivot runs while button held */
intakeTrigger.whileTrue(
Expand All @@ -409,7 +404,7 @@ public void configureBindings() {
intakeRoller.getStopCommand()));

reverseTransferTrigger.whileTrue(
transferSubsystem.getSetPowerCommand(-1)).onFalse(transferSubsystem.getSetPowerCommand(0));
transferSubsystem.getPowerCommand(-1.0, -1.0)).onFalse(transferSubsystem.getStopCommand());

// =========================
// Turret Offset Adjustment (POV Left / Right)
Expand Down Expand Up @@ -510,10 +505,10 @@ public void configureBindings() {
new InstantCommand(() -> xHeld = false));

// new Trigger(
// () -> operatorController.getYButton()).onTrue(
// new InstantCommand(() -> yHeld = true))
// .onFalse(
// new InstantCommand(() -> yHeld = false));
// () -> operatorController.getYButton()).onTrue(
// new InstantCommand(() -> yHeld = true))
// .onFalse(
// new InstantCommand(() -> yHeld = false));

}

Expand Down Expand Up @@ -716,12 +711,12 @@ private Command getIntakeStrategyCommand() {

case B_N_F_R:
return new DriveToSequenceCommand(driveSubsystem, Constants.Operator.Auto.BACK_N_FORTH_RIGHT_SEQUENCE.stream()
.map(FieldUtil::flipIfRed)
.toList());
.map(FieldUtil::flipIfRed)
.toList());
case B_N_F_L:
return new DriveToSequenceCommand(driveSubsystem, Constants.Operator.Auto.BACK_N_FORTH_LEFT_SEQUENCE.stream()
.map(FieldUtil::flipIfRed)
.toList());
.map(FieldUtil::flipIfRed)
.toList());
default:
return Commands.none();
}
Expand Down
43 changes: 30 additions & 13 deletions src/main/java/frc/robot/subsystems/TransferSubsystem.java
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Original file line number Diff line number Diff line change
Expand Up @@ -31,7 +31,8 @@ public class TransferSubsystem extends SubsystemBase {
// --------------------------------------------------------------------

/** Motor driving the transfer mechanism. */
private final TalonFX transferMotor;
private final TalonFX kickerMotor;
private final TalonFX feederMotor;

// --------------------------------------------------------------------
// Construction / Configuration
Expand All @@ -41,8 +42,11 @@ public class TransferSubsystem extends SubsystemBase {
* Creates and configures the transfer subsystem.
*/
public TransferSubsystem() {
transferMotor = new TalonFX(Constants.Transfer.TRANSFER_MOTOR_ID, Constants.CANIVORE_LOOP_NAME);
transferMotor.getConfigurator().apply(Configs.TRANSFER_CONFIG);
kickerMotor = new TalonFX(Constants.Transfer.TRANSFER_KICKER_ID, Constants.CANIVORE_LOOP_NAME);
kickerMotor.getConfigurator().apply(Configs.KICKER_CONFIG);

feederMotor = new TalonFX(Constants.Transfer.TRANSFER_FEEDER_ID);
feederMotor.getConfigurator().apply(Configs.FEEDER_CONFIG);
}

// --------------------------------------------------------------------
Expand All @@ -54,8 +58,12 @@ public TransferSubsystem() {
*
* @param power desired power
*/
public void setPower(double power) {
transferMotor.set(power);
public void setKickerPower(double power) {
kickerMotor.set(power);
}

public void setFeederPower(double power) {
feederMotor.set(power);
}

// --------------------------------------------------------------------
Expand All @@ -71,24 +79,33 @@ public void setPower(double power) {
* @param power desired transfer power
* @return an instant command that sets motor power
*/
public Command getSetPowerCommand(double power) {
public Command getPowerCommand(double kickerPower, double feederPower) {
return new InstantCommand(
() -> setPower(power),
this
() -> {
setKickerPower(kickerPower);
setFeederPower(feederPower);
}
);
}

/**
* @return a command that runs the transfer at the load speed
*/
public Command getLoadCommand() {
return getSetPowerCommand(Constants.Transfer.LOAD_POWER).withName("TransferLoad");
return new InstantCommand(
() -> {
setKickerPower(Constants.Transfer.KICKER_LOAD_POWER);
setFeederPower(Constants.Transfer.FEEDER_LOAD_POWER);
}
);
}

/**
* @return a command that stops the transfer motor
*/
public Command getStopCommand() {
return new InstantCommand(() -> transferMotor.stopMotor());
return new InstantCommand(
() -> {
kickerMotor.stopMotor();
feederMotor.stopMotor();
}
);
}
}
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