New Auto Aim

Author: cherriae

src/main/java/frc/robot/Constants.java

@@ -71,7 +71,7 @@ public static class Speeds {
     public static final double SHOOTER_FAST_SPIN_SPEED = 1;
     public static final double SHOOTER_SLOW_SPIN_SPEED = 0.8;
     public static final double SHOOTER_AMP_SPEED = 1;
-    public static final double SHOOTER_AMP_SLOW_SPEED = 0.5;
+    public static final double SHOOTER_AMP_SLOW_SPEED = 0.3;
     public static final double SHOOTER_INTAKE_SPEED = -0.15;
     public static final double SHOOTER_IDLE_SPEED = 0.3;
 
@@ -153,8 +153,8 @@ public static class Presets {
 
     public static final double ELEVATOR_HEIGHT_RATE = -0.025;
 
-    public static final double SHOOTER_AMP_HANDOFF = 50;
-    public static final double ELEVATOR_AMP_HANDOFF = 0.045;
+    public static final double SHOOTER_AMP_HANDOFF = 85;
+    public static final double ELEVATOR_AMP_HANDOFF = 0.120;
 
     public static final InterpolatingDoubleTreeMap SHOOTER_DISTANCE_ANGLE = new InterpolatingDoubleTreeMap();
 

src/main/java/frc/robot/commands/auto/AutoAmp.java

@@ -6,8 +6,10 @@
 package frc.robot.commands.auto;
 
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
+import frc.robot.commands.elevator.SetElevator;
 import frc.robot.commands.intake.FeedActuate;
 import frc.robot.commands.shooter.SpinShooter;
+import frc.robot.subsystems.ElevatorSubsystem;
 import frc.robot.subsystems.IntakeSubsystem;
 import frc.robot.subsystems.ShooterSubsystem;
 import frc.robot.subsystems.IntakeSubsystem.ActuatorState;
@@ -26,7 +28,8 @@ public AutoAmp(
     // Add your commands in the addCommands() call, e.g.
     // addCommands(new FooCommand(), new BarCommand());
     addCommands(
-      new SpinShooter(shooter, ShooterState.AMP, false).withTimeout(0.20),
+      new FeedActuate(intake, FeedMode.INTAKE).withTimeout(0.3),
+      new SpinShooter(shooter, ShooterState.SLOW, false).withTimeout(1.00),
       new FeedActuate(intake, ActuatorState.STOWED, FeedMode.OUTTAKE).withTimeout(0.5)
       // new SpinShooter(shooter, ShooterState.SLOW, false).withTimeout(0.1)
     );

src/main/java/frc/robot/subsystems/ShooterSubsystem.java

@@ -83,7 +83,7 @@ public ShooterSubsystem() {
     // soft limits
     SoftwareLimitSwitchConfigs softLimits = new SoftwareLimitSwitchConfigs();
 
-    softLimits.ForwardSoftLimitThreshold = 65 * Constants.Physical.SHOOTER_ANGLE_GEAR_RATIO / 360;
+    softLimits.ForwardSoftLimitThreshold = 85 * Constants.Physical.SHOOTER_ANGLE_GEAR_RATIO / 360;
     softLimits.ReverseSoftLimitThreshold = -25 * Constants.Physical.SHOOTER_ANGLE_GEAR_RATIO / 360;
 
     softLimits.ForwardSoftLimitEnable = true;