3 30 changes

src/main/java/com/team1816/lib/BaseRobotState.java

@@ -29,7 +29,7 @@ public class BaseRobotState {
      * its pose. Other cases might be if we leave the ground while climbing, or if we had to use a
      * default auto without the correct starting pose.
      */
-    public static volatile boolean hasAccuratePoseEstimate = true;
+    public static boolean hasAccuratePoseEstimate = true;
 
     /**
      * If you are trying to get the pose of the robot on the field, you probably want to use the
@@ -42,5 +42,5 @@ public class BaseRobotState {
      * as the source of truth during simulation, while the raw odometry position is just supposed
      * to be the pre-vision position estimate of the real robot.
      */
-    public static volatile Pose2d simActualOrRawOdometryPose = Pose2d.kZero;
+    public static Pose2d simActualOrRawOdometryPose = Pose2d.kZero;
 }

src/main/java/com/team1816/lib/subsystems/BaseSuperstructure.java

@@ -51,7 +51,7 @@ public void periodic() {
      * and both methods access {@code goodVisionEstimatesSincePoseLoss} and
      * {@link BaseRobotState#hasAccuratePoseEstimate}.
      */
-    private synchronized void handlePoseLossFromTilting() {
+    private void handlePoseLossFromTilting() {
         // The threshold of how far the robot can be tilted before we decide we don't have an
         // accurate pose estimate. Mainly to account for gyro noise.
         final double tiltPoseLossThresholdRadians = Units.degreesToRadians(5.0);
@@ -75,7 +75,7 @@ private synchronized void handlePoseLossFromTilting() {
      * ({@code goodVisionEstimatesSincePoseLoss}, {@code visionEstimateSincePoseLossVarianceSum},
      * and {@link BaseRobotState#hasAccuratePoseEstimate}).
      */
-    public synchronized void addVisionMeasurementsToDrivetrain() {
+    public void addVisionMeasurementsToDrivetrain() {
         List<Pair<EstimatedRobotPose, Matrix<N3, N1>>> visionMeasurements = vision
             .getVisionEstimatedPosesWithStdDevs();
 

src/main/java/com/team1816/season/subsystems/Gatekeeper.java

@@ -16,7 +16,6 @@ public class Gatekeeper extends SubsystemBase implements ITestableSubsystem {
 
     //MOTORS
     private final IMotor topMotor = (IMotor)factory.getDevice(NAME, "topMotor");
-    private final IMotor bottomMotor = (IMotor)factory.getDevice(NAME, "bottomMotor");
 
     private final VelocityVoltage voltageReq = new VelocityVoltage(0);
 
@@ -33,17 +32,12 @@ public void periodic() {
 
     private void applyState() {
         setTopVelocity(wantedState.getTopMotorValue());
-        setBottomVelocity(wantedState.getBottomMotorValue());
     }
 
     private void setTopVelocity(double velocity) {
         topMotor.setControl(voltageReq.withVelocity(velocity));
     }
 
-    private void setBottomVelocity(double velocity) {
-        bottomMotor.setControl(voltageReq.withVelocity(velocity));
-    }
-
     public void setWantedState(GatekeeperState state) {
         wantedState = state;
     }
@@ -58,9 +52,9 @@ public GatekeeperState getState() {
     }
 
     public enum GatekeeperState {
-        OPEN(factory.getConstant(NAME, "topOpenVelocity", 0), factory.getConstant(NAME, "bottomOpenVelocity", 0)),
-        CLOSED(factory.getConstant(NAME, "topClosedVelocity", 0), factory.getConstant(NAME, "bottomClosedVelocity", 0)),
-        REVERSING(factory.getConstant(NAME, "topReversingVelocity", 0), factory.getConstant(NAME, "bottomReversingVelocity", 0));
+        OPEN(factory.getConstant(NAME, "topOpenVelocity", 0), 0),
+        CLOSED(factory.getConstant(NAME, "topClosedVelocity", 0), 0),
+        REVERSING(factory.getConstant(NAME, "topReversingVelocity", 0), 0);
 
         private double topMotorValue, bottomMotorValue;
 
@@ -72,9 +66,5 @@ public enum GatekeeperState {
         public double getTopMotorValue() {
             return topMotorValue;
         }
-
-        public double getBottomMotorValue() {
-            return bottomMotorValue;
-        }
     }
 }

src/main/java/com/team1816/season/subsystems/Intake.java

@@ -35,8 +35,6 @@ public class Intake extends SubsystemBase implements ITestableSubsystem {
      * lower current to just hold it out instead of pushing it out.
      */
     private final double FLIPPER_MOTOR_OUT_POSITION;
-    private final double FLIPPER_MOTOR_PULL_IN_ONE_POSITION;
-    private final double FLIPPER_MOTOR_PULL_IN_TWO_POSITION;
     private final double FLIPPER_MOTOR_IN_POSITION;
     private final double FLIPPER_MOTOR_RETRACT_CURRENT_AMPERES;
     private final double FLIPPER_MOTOR_EXTEND_CURRENT_AMPERES;
@@ -55,8 +53,6 @@ public Intake () {
         super();
         SmartDashboard.putData("Intake", intakeMech);
         FLIPPER_MOTOR_OUT_POSITION = factory.getConstant(NAME, "flipperMotorOutPosition", 0);
-        FLIPPER_MOTOR_PULL_IN_ONE_POSITION = factory.getConstant(NAME, "flipperMotorPullInOnePosition", 0);
-        FLIPPER_MOTOR_PULL_IN_TWO_POSITION = factory.getConstant(NAME, "flipperMotorPullInTwoPosition", 0);
         FLIPPER_MOTOR_IN_POSITION = factory.getConstant(NAME, "flipperMotorInPosition", 0);
         FLIPPER_MOTOR_RETRACT_CURRENT_AMPERES = factory.getConstant(NAME, "flipperMotorRetractCurrentAmperes", 0);
         FLIPPER_MOTOR_EXTEND_CURRENT_AMPERES = factory.getConstant(NAME, "flipperMotorExtendCurrentAmperes", 0);
@@ -119,30 +115,6 @@ private void setFlipperPosition(FlipperPosition position) {
                     );
                 }
             }
-            case PULL_IN_ONE -> {
-                if (flipperMotor.getMotorPosition() > FLIPPER_MOTOR_PULL_IN_ONE_POSITION) {
-                    flipperMotor.setControl(
-                        flipperMotorTorqueCurrentRequest.withOutput(FLIPPER_MOTOR_RETRACT_CURRENT_AMPERES)
-                    );
-                }
-                else {
-                    flipperMotor.setControl(
-                        flipperMotorTorqueCurrentRequest.withOutput(0)
-                    );
-                }
-            }
-            case PULL_IN_TWO -> {
-                if (flipperMotor.getMotorPosition() > FLIPPER_MOTOR_PULL_IN_TWO_POSITION) {
-                    flipperMotor.setControl(
-                        flipperMotorTorqueCurrentRequest.withOutput(FLIPPER_MOTOR_RETRACT_CURRENT_AMPERES)
-                    );
-                }
-                else {
-                    flipperMotor.setControl(
-                        flipperMotorTorqueCurrentRequest.withOutput(0)
-                    );
-                }
-            }
         }
     }
 
@@ -156,14 +128,12 @@ public void setWantedState(IntakeState state) {
      */
     public enum FlipperPosition {
         IN,
-        OUT,
-        PULL_IN_ONE,
-        PULL_IN_TWO
+        OUT
     }
 
     public enum IntakeState {
         STOW(
-            factory.getConstant(NAME, "intakeOffSpeed", 0, true),
+            factory.getConstant(NAME, "intakeSlowSpeed", .1, true),
             FlipperPosition.IN
         ),
         INTAKE(
@@ -177,14 +147,6 @@ public enum IntakeState {
         STOP_OUT(
             0,
             FlipperPosition.OUT
-        ),
-        PULL_IN_ONE(
-            factory.getConstant(NAME, "intakeOnSpeed", 0),
-            FlipperPosition.PULL_IN_ONE
-        ),
-        PULL_IN_TWO(
-            factory.getConstant(NAME, "intakeOnSpeed", 0),
-            FlipperPosition.PULL_IN_TWO
         );
 
         private double intakeMotorValue;

src/main/java/com/team1816/season/subsystems/Shooter.java

@@ -636,11 +636,11 @@ private boolean areLaunchMotorsAimed() {
     private void setInclineAngle(double wantedAngleDegrees) {
         wantedInclineAngleDegrees = wantedAngleDegrees + inclineAngleAdjustmentDegrees;
         double rotations = Units.degreesToRotations(wantedInclineAngleDegrees);
-//        if (isInclineDucking) {
-//            // If we are trying to duck under the trench, restrict the angle of the incline to be
-//            // below the limit.
-//            rotations = Math.min(rotations, INCLINE_DUCKING_LIMIT_ROTATIONS);
-//        }
+        if (isInclineDucking) {
+            // If we are trying to duck under the trench, restrict the angle of the incline to be
+            // below the limit.
+            rotations = Math.min(rotations, INCLINE_DUCKING_LIMIT_ROTATIONS);
+        }
         inclineMotor.setControl(inclineMotorPositionRequest.withPosition(rotations));
     }
 

src/main/java/com/team1816/season/subsystems/Superstructure.java

@@ -92,14 +92,6 @@ public void setSuperstructureWantedIntakeState(WantedIntakeState intakeState) {
         this.wantedIntakeState = intakeState;
     }
 
-    public void incrementPullInSuperstructureIntakeState() {
-        wantedIntakeState = switch (wantedIntakeState) {
-            case INTAKE, OUTTAKE, STOP_OUT -> WantedIntakeState.PULL_IN_ONE;
-            case PULL_IN_ONE -> WantedIntakeState.PULL_IN_TWO;
-            case PULL_IN_TWO, STOW -> WantedIntakeState.STOW;
-        };
-    }
-
     /**
      * Sets if the incline of the shooter should duck down to fit under the trench.
      *
@@ -252,8 +244,6 @@ private void defaulting() {
                 case OUTTAKE -> Intake.IntakeState.OUTTAKE;
                 case STOP_OUT -> Intake.IntakeState.STOP_OUT;
                 case STOW -> Intake.IntakeState.STOW;
-                case PULL_IN_ONE -> Intake.IntakeState.PULL_IN_ONE;
-                case PULL_IN_TWO -> Intake.IntakeState.PULL_IN_TWO;
             }
         );
         feeder.setWantedState(
@@ -310,7 +300,5 @@ public enum WantedIntakeState {
         STOW,
         OUTTAKE,
         STOP_OUT,
-        PULL_IN_ONE,
-        PULL_IN_TWO
     }
 }

src/main/resources/yaml/ztldr.yml

@@ -169,7 +169,7 @@ subsystems:
                 neutralMode: Coast
                 motorRotation: CounterClockwise_Positive
         constants:
-            feedingDutyCycle: 0.8
+            feedingDutyCycle: 0.7
             stoppedDutyCycle: 0
             reversingDutyCycle: -0.4
     intake:
@@ -183,6 +183,8 @@ subsystems:
             flipperMotor:
                 id: 3
                 deviceType: TalonFX
+                supplyCurrentLimit: 35
+                statorCurrentLimit: 60
                 neutralMode: Brake
                 motorRotation: Clockwise_Positive
                 remoteSensor: RemoteCANcoder # ExternalFeedbackSensorSourceValue
@@ -194,7 +196,7 @@ subsystems:
                 deviceType: CANcoder
         constants:
             intakeOnSpeed: .4
-            intakeOffSpeed: 0
+            intakeSlowSpeed: .1
             outtakeSpeed: -0.6
             flipperMotorOutPosition: 0.166
             flipperMotorPullInOnePosition: 0.1
@@ -216,22 +218,10 @@ subsystems:
                         kP: 0.5
                         kS: 0.31
                         kV: 0.081
-            bottomMotor:
-                deviceType: TalonFX
-                id: 24
-                motorRotation: Clockwise_Positive
-                pidConfig:
-                    slot0:
-                        kP: 0.5
-                        kS: 0.31
-                        kV: 0.08
         constants:
             topClosedVelocity: 0
             topOpenVelocity: 40
             topReversingVelocity: -10
-            bottomClosedVelocity: 0
-            bottomOpenVelocity: 40
-            bottomReversingVelocity: -10
     shooter:
         canBusName: shootercanivore
         devices:
@@ -295,11 +285,11 @@ subsystems:
             leftTurretSensorChannel: 0
             rightTurretSensorChannel: 1
             motorRotationsPerTurretRotation: 15.625 # 250/16 gear ratio
-            shooterOffsetXMeters: -0.11303
+            shooterOffsetXMeters: -0.111303
             shooterOffsetYMeters: -0.112268
             shooterOffsetZMeters: 0.508
-            inclineDuckingLimitRotations: 0.058
-            distanceOneInclineAngleRotations: 0.058
+            inclineDuckingLimitRotations: 0.064
+            distanceOneInclineAngleRotations: 0.064
             distanceOneLaunchVelocityRPS: 35
             distanceTwoInclineAngleRotations: 0.08
             distanceTwoLaunchVelocityRPS: 47