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andrewmcalindenmray190
andrewmcalinden
authored and
mray190
committed
working code from Tuesday Night, all 3 autos look good
1 parent c79fa64 commit 8fe0270

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5 files changed

+169
-51
lines changed

5 files changed

+169
-51
lines changed

‎Competition/src/main/cpp/ValorAuto.cpp‎

Lines changed: 164 additions & 47 deletions
Original file line numberDiff line numberDiff line change
@@ -45,10 +45,10 @@ ValorAuto::ValorAuto(Drivetrain *_drivetrain, Shooter *_shooter, Feeder *_feeder
4545
frc::Pose2d daffyBlue = frc::Pose2d(3.55_m, 2.15_m, frc::Rotation2d(115_deg));
4646

4747
frc::Translation2d porkyEntryRed = frc::Translation2d(1.3_m, 3.25_m); //3.5
48-
frc::Pose2d porkyRed = frc::Pose2d(-0.35_m, 2.1_m, frc::Rotation2d(212_deg));
48+
frc::Pose2d porkyRed = frc::Pose2d(-0.45_m, 2.35_m, frc::Rotation2d(212_deg));
4949
frc::Pose2d porkyStepBackRed = frc::Pose2d(.7_m, 3.2_m, frc::Rotation2d(212_deg));
5050
frc::Translation2d porkyEntryBlue = frc::Translation2d(1.3_m, 3.25_m); //3.5
51-
frc::Pose2d porkyBlue = frc::Pose2d(-0.35_m, 2.1_m, frc::Rotation2d(212_deg));
51+
frc::Pose2d porkyBlue = frc::Pose2d(-0.45_m, 2.35_m, frc::Rotation2d(212_deg));
5252
frc::Pose2d porkyStepBackBlue = frc::Pose2d(.7_m, 3.2_m, frc::Rotation2d(212_deg));
5353

5454
frc::Translation2d shootConstrainRed = frc::Translation2d(3.15_m, 2_m); //1.2_m in case we need to push it more towards wall
@@ -59,26 +59,29 @@ ValorAuto::ValorAuto(Drivetrain *_drivetrain, Shooter *_shooter, Feeder *_feeder
5959
frc::Pose2d startPose2ballRed = frc::Pose2d(units::meter_t(5.75), units::meter_t(5.42), frc::Rotation2d(137_deg));
6060
frc::Pose2d startPose2ballBlue = frc::Pose2d(units::meter_t(5.75), units::meter_t(5.42), frc::Rotation2d(137_deg));
6161

62-
frc::Pose2d marvinRed = frc::Pose2d(units::meter_t(3.7), units::meter_t(7.2), frc::Rotation2d(137_deg));
63-
frc::Pose2d marvinBlue = frc::Pose2d(units::meter_t(4.5), units::meter_t(6.4), frc::Rotation2d(137_deg));
62+
frc::Pose2d marvinRed = frc::Pose2d(units::meter_t(4), units::meter_t(6.9), frc::Rotation2d(137_deg));
63+
frc::Pose2d marvinBlue = frc::Pose2d(units::meter_t(4), units::meter_t(6.9), frc::Rotation2d(137_deg));
6464

6565
frc::Pose2d marvinShootRed = frc::Pose2d(units::meter_t(5), units::meter_t(7.5), frc::Rotation2d(27_deg));
66-
frc::Pose2d marvinShootBlue = frc::Pose2d(units::meter_t(5.2), units::meter_t(6.8), frc::Rotation2d(27_deg));
66+
frc::Pose2d marvinShootBlue = frc::Pose2d(units::meter_t(5), units::meter_t(7.5), frc::Rotation2d(27_deg));
6767

68-
frc::Pose2d tasRed = frc::Pose2d(units::meter_t(5.869), units::meter_t(7.6), frc::Rotation2d(30_deg));
69-
frc::Pose2d tasBlue = frc::Pose2d(units::meter_t(5.869), units::meter_t(7.6), frc::Rotation2d(30_deg));
68+
frc::Pose2d marvinShootAltRed = frc::Pose2d(units::meter_t(3.35), units::meter_t(4), frc::Rotation2d(-90_deg));
69+
frc::Pose2d marvinShootAltBlue = frc::Pose2d(units::meter_t(3.35), units::meter_t(4), frc::Rotation2d(-90_deg));
70+
71+
frc::Pose2d tasRed = frc::Pose2d(units::meter_t(6.069), units::meter_t(7.8), frc::Rotation2d(60_deg));
72+
frc::Pose2d tasBlue = frc::Pose2d(units::meter_t(6.069), units::meter_t(7.8), frc::Rotation2d(60_deg));
7073

7174
frc::Translation2d tasToSpeedyConstrainRed = frc::Translation2d(.75_m, 2.5_m); //1.2_m in case we need to push it more towards wall
7275
frc::Translation2d tasToSpeedyConstrainBlue = frc::Translation2d(.75_m, 2.5_m); //1.2_m in case we need to push it more towards wall
7376

7477
frc::Pose2d hangarSpotRed = frc::Pose2d(units::meter_t(4), units::meter_t(7.5), frc::Rotation2d(190_deg));
7578
frc::Pose2d hangarSpotBlue = frc::Pose2d(units::meter_t(4), units::meter_t(7.5), frc::Rotation2d(190_deg));
7679

77-
frc::Pose2d speedyRed = frc::Pose2d(3.45_m, 2.15_m, frc::Rotation2d(-60_deg)); //originally 0
78-
frc::Pose2d speedyBlue = frc::Pose2d(3.45_m, 2.15_m, frc::Rotation2d(-60_deg)); //originally 0
80+
frc::Pose2d speedyRed = frc::Pose2d(3.35_m, 2.8_m, frc::Rotation2d(-60_deg)); //originally 0
81+
frc::Pose2d speedyBlue = frc::Pose2d(3.35_m, 2.8_m, frc::Rotation2d(-60_deg)); //originally 0
7982

80-
frc::Pose2d trenchEndRed = frc::Pose2d(3.75_m, 2.15_m, frc::Rotation2d(0_deg));
81-
frc::Pose2d trenchEndBlue = frc::Pose2d(3.75_m, 2.15_m, frc::Rotation2d(0_deg));
83+
frc::Pose2d trenchEndRed = frc::Pose2d(3.75_m, 3_m, frc::Rotation2d(135_deg));
84+
frc::Pose2d trenchEndBlue = frc::Pose2d(3.75_m, 3_m, frc::Rotation2d(135_deg));
8285

8386
frc::Pose2d endPose2ballRed = frc::Pose2d(10_m, 10_m, frc::Rotation2d(0_deg));
8487
frc::Pose2d endPose2ballBlue = frc::Pose2d(10_m, 10_m, frc::Rotation2d(0_deg));
@@ -113,6 +116,9 @@ ValorAuto::ValorAuto(Drivetrain *_drivetrain, Shooter *_shooter, Feeder *_feeder
113116
frc2::InstantCommand cmd_turretHomeLeft = frc2::InstantCommand( [&] {
114117
shooter->state.turretState = Shooter::TurretState::TURRET_HOME_LEFT;
115118
} );
119+
frc2::InstantCommand cmd_turretHomeRight = frc2::InstantCommand( [&] {
120+
shooter->state.turretState = Shooter::TurretState::TURRET_HOME_RIGHT;
121+
} );
116122

117123
frc2::InstantCommand cmd_turretDisable = frc2::InstantCommand( [&] {
118124
shooter->state.turretState = Shooter::TurretState::TURRET_DISABLE;
@@ -121,6 +127,7 @@ ValorAuto::ValorAuto(Drivetrain *_drivetrain, Shooter *_shooter, Feeder *_feeder
121127
frc2::InstantCommand cmd_intakeOne = frc2::InstantCommand( [&] { feeder->state.feederState = Feeder::FeederState::FEEDER_REGULAR_INTAKE; } );
122128
frc2::InstantCommand cmd_intakeDisable = frc2::InstantCommand( [&] { feeder->state.feederState = Feeder::FeederState::FEEDER_DISABLE; } );
123129
frc2::InstantCommand cmd_intakeAuto = frc2::InstantCommand( [&] { feeder->state.feederState = Feeder::FeederState::FEEDER_CURRENT_INTAKE; } );
130+
frc2::InstantCommand cmd_intakeClearDeque = frc2::InstantCommand( [&] { feeder->resetDeque();} );
124131
frc2::InstantCommand cmd_intakeShoot = frc2::InstantCommand( [&] { feeder->state.feederState = Feeder::FeederState::FEEDER_SHOOT; } );
125132
frc2::InstantCommand cmd_intakeReverse = frc2::InstantCommand( [&] { feeder->state.feederState = Feeder::FeederState::FEEDER_REVERSE; } );
126133

@@ -244,6 +251,19 @@ ValorAuto::ValorAuto(Drivetrain *_drivetrain, Shooter *_shooter, Feeder *_feeder
244251
config
245252
);
246253

254+
auto moveMarvinShootAltRed = frc::TrajectoryGenerator::GenerateTrajectory(
255+
marvinRed,
256+
{},
257+
marvinShootAltRed,
258+
config
259+
);
260+
auto moveMarvinShootAltBlue = frc::TrajectoryGenerator::GenerateTrajectory(
261+
marvinBlue,
262+
{},
263+
marvinShootAltBlue,
264+
config
265+
);
266+
247267
auto moveTasRed = frc::TrajectoryGenerator::GenerateTrajectory(
248268
marvinShootRed,
249269
{},
@@ -279,14 +299,36 @@ ValorAuto::ValorAuto(Drivetrain *_drivetrain, Shooter *_shooter, Feeder *_feeder
279299

280300
auto moveSpeedyFromTasRed = frc::TrajectoryGenerator::GenerateTrajectory(
281301
tasRed,
282-
{tasToSpeedyConstrainRed},
302+
{},
283303
speedyRed,
284304
reverseConfig);
285305
auto moveSpeedyFromTasBlue = frc::TrajectoryGenerator::GenerateTrajectory(
286306
tasBlue,
287-
{tasToSpeedyConstrainBlue},
307+
{},
288308
speedyBlue,
289309
reverseConfig);
310+
311+
auto moveSpeedyFromAltRed = frc::TrajectoryGenerator::GenerateTrajectory(
312+
marvinShootAltRed,
313+
{},
314+
speedyRed,
315+
config);
316+
auto moveSpeedyFromAltBlue = frc::TrajectoryGenerator::GenerateTrajectory(
317+
marvinShootAltBlue,
318+
{},
319+
speedyBlue,
320+
config);
321+
322+
auto moveTasFromSpeedyRed = frc::TrajectoryGenerator::GenerateTrajectory(
323+
speedyRed,
324+
{},
325+
tasRed,
326+
reverseConfig);
327+
auto moveTasFromSpeedyBlue = frc::TrajectoryGenerator::GenerateTrajectory(
328+
speedyBlue,
329+
{},
330+
tasBlue,
331+
reverseConfig);
290332

291333
auto moveEndFromSpeedyRed = frc::TrajectoryGenerator::GenerateTrajectory(
292334
speedyRed,
@@ -487,6 +529,27 @@ ValorAuto::ValorAuto(Drivetrain *_drivetrain, Shooter *_shooter, Feeder *_feeder
487529
[this] (auto states) { drivetrain->setModuleStates(states); },
488530
{drivetrain}
489531
);
532+
533+
frc2::SwerveControllerCommand<4> cmd_move_moveMarvinShootAltRed(
534+
moveMarvinShootAltRed,
535+
[&] () { return drivetrain->getPose_m(); },
536+
drivetrain->getKinematics(),
537+
frc2::PIDController(DriveConstants::KPX, DriveConstants::KIX, DriveConstants::KDX),
538+
frc2::PIDController(DriveConstants::KPY, DriveConstants::KIY, DriveConstants::KDY),
539+
thetaController,
540+
[this] (auto states) { drivetrain->setModuleStates(states); },
541+
{drivetrain}
542+
);
543+
frc2::SwerveControllerCommand<4> cmd_move_moveMarvinShootAltBlue(
544+
moveMarvinShootAltBlue,
545+
[&] () { return drivetrain->getPose_m(); },
546+
drivetrain->getKinematics(),
547+
frc2::PIDController(DriveConstants::KPX, DriveConstants::KIX, DriveConstants::KDX),
548+
frc2::PIDController(DriveConstants::KPY, DriveConstants::KIY, DriveConstants::KDY),
549+
thetaController,
550+
[this] (auto states) { drivetrain->setModuleStates(states); },
551+
{drivetrain}
552+
);
490553

491554
frc2::SwerveControllerCommand<4> cmd_move_moveTasRed(
492555
moveTasRed,
@@ -540,9 +603,8 @@ ValorAuto::ValorAuto(Drivetrain *_drivetrain, Shooter *_shooter, Feeder *_feeder
540603
[this] (auto states) { drivetrain->setModuleStates(states); },
541604
{drivetrain}
542605
);
543-
544-
frc2::SwerveControllerCommand<4> cmd_move_moveEndFromSpeedyRed(
545-
moveEndFromSpeedyRed,
606+
frc2::SwerveControllerCommand<4> cmd_move_moveSpeedyFromTasBlue(
607+
moveSpeedyFromTasBlue,
546608
[&] () { return drivetrain->getPose_m(); },
547609
drivetrain->getKinematics(),
548610
frc2::PIDController(DriveConstants::KPX, DriveConstants::KIX, DriveConstants::KDX),
@@ -551,8 +613,8 @@ ValorAuto::ValorAuto(Drivetrain *_drivetrain, Shooter *_shooter, Feeder *_feeder
551613
[this] (auto states) { drivetrain->setModuleStates(states); },
552614
{drivetrain}
553615
);
554-
frc2::SwerveControllerCommand<4> cmd_move_moveSpeedyFromTasRed(
555-
moveSpeedyFromTasBlue,
616+
frc2::SwerveControllerCommand<4> cmd_move_moveSpeedyFromAltRed(
617+
moveSpeedyFromAltRed,
556618
[&] () { return drivetrain->getPose_m(); },
557619
drivetrain->getKinematics(),
558620
frc2::PIDController(DriveConstants::KPX, DriveConstants::KIX, DriveConstants::KDX),
@@ -561,7 +623,49 @@ ValorAuto::ValorAuto(Drivetrain *_drivetrain, Shooter *_shooter, Feeder *_feeder
561623
[this] (auto states) { drivetrain->setModuleStates(states); },
562624
{drivetrain}
563625
);
564-
626+
frc2::SwerveControllerCommand<4> cmd_move_moveSpeedyFromAltBlue(
627+
moveSpeedyFromAltBlue,
628+
[&] () { return drivetrain->getPose_m(); },
629+
drivetrain->getKinematics(),
630+
frc2::PIDController(DriveConstants::KPX, DriveConstants::KIX, DriveConstants::KDX),
631+
frc2::PIDController(DriveConstants::KPY, DriveConstants::KIY, DriveConstants::KDY),
632+
thetaController,
633+
[this] (auto states) { drivetrain->setModuleStates(states); },
634+
{drivetrain}
635+
);
636+
637+
frc2::SwerveControllerCommand<4> cmd_move_moveTasFromSpeedyRed(
638+
moveTasFromSpeedyRed,
639+
[&] () { return drivetrain->getPose_m(); },
640+
drivetrain->getKinematics(),
641+
frc2::PIDController(DriveConstants::KPX, DriveConstants::KIX, DriveConstants::KDX),
642+
frc2::PIDController(DriveConstants::KPY, DriveConstants::KIY, DriveConstants::KDY),
643+
thetaController,
644+
[this] (auto states) { drivetrain->setModuleStates(states); },
645+
{drivetrain}
646+
);
647+
frc2::SwerveControllerCommand<4> cmd_move_moveTasFromSpeedyBlue(
648+
moveTasFromSpeedyBlue,
649+
[&] () { return drivetrain->getPose_m(); },
650+
drivetrain->getKinematics(),
651+
frc2::PIDController(DriveConstants::KPX, DriveConstants::KIX, DriveConstants::KDX),
652+
frc2::PIDController(DriveConstants::KPY, DriveConstants::KIY, DriveConstants::KDY),
653+
thetaController,
654+
[this] (auto states) { drivetrain->setModuleStates(states); },
655+
{drivetrain}
656+
);
657+
658+
frc2::SwerveControllerCommand<4> cmd_move_moveEndFromSpeedyRed(
659+
moveEndFromSpeedyRed,
660+
[&] () { return drivetrain->getPose_m(); },
661+
drivetrain->getKinematics(),
662+
frc2::PIDController(DriveConstants::KPX, DriveConstants::KIX, DriveConstants::KDX),
663+
frc2::PIDController(DriveConstants::KPY, DriveConstants::KIY, DriveConstants::KDY),
664+
thetaController,
665+
[this] (auto states) { drivetrain->setModuleStates(states); },
666+
{drivetrain}
667+
);
668+
565669
frc2::SwerveControllerCommand<4> cmd_move_moveEndFromSpeedyBlue(
566670
moveEndFromSpeedyBlue,
567671
[&] () { return drivetrain->getPose_m(); },
@@ -659,13 +763,14 @@ ValorAuto::ValorAuto(Drivetrain *_drivetrain, Shooter *_shooter, Feeder *_feeder
659763
cmd_turretDisable,
660764
cmd_intakeOne,
661765
cmd_move_movePorkyFromDaffyRed,
766+
cmd_turretHomeMid,
662767
cmd_move_moveStepBackRed,
768+
cmd_intakeClearDeque,
663769
cmd_intakeAuto,
664-
frc2::WaitCommand((units::second_t).5),
665-
cmd_turretHomeMid,
770+
frc2::WaitCommand((units::second_t).25),
771+
cmd_turretTrack,
666772
cmd_move_moveShootRed,
667-
cmd_turretTrack, // if we lower the angle to 50 we could potentially cut tracking / lower time
668-
frc2::WaitCommand((units::second_t).225),
773+
frc2::WaitCommand((units::second_t).375),
669774
cmd_intakeShoot
670775
);
671776
frc2::SequentialCommandGroup *shoot5Blue = new frc2::SequentialCommandGroup();
@@ -693,13 +798,14 @@ ValorAuto::ValorAuto(Drivetrain *_drivetrain, Shooter *_shooter, Feeder *_feeder
693798
cmd_turretDisable,
694799
cmd_intakeOne,
695800
cmd_move_movePorkyFromDaffyBlue,
801+
cmd_turretHomeMid,
696802
cmd_move_moveStepBackBlue,
803+
cmd_intakeClearDeque,
697804
cmd_intakeAuto,
698-
frc2::WaitCommand((units::second_t).5),
699-
cmd_turretHomeMid,
805+
frc2::WaitCommand((units::second_t).25),
806+
cmd_turretTrack,
700807
cmd_move_moveShootBlue,
701-
cmd_turretTrack, //if we lower the angle to 50 we could potentially cut the tracking / wait
702-
frc2::WaitCommand((units::second_t).225),
808+
frc2::WaitCommand((units::second_t).375),
703809
cmd_intakeShoot
704810
);
705811

@@ -749,51 +855,62 @@ ValorAuto::ValorAuto(Drivetrain *_drivetrain, Shooter *_shooter, Feeder *_feeder
749855
shoot2Def2Red->AddCommands
750856
(cmd_set2ballOdometryRed,
751857
cmd_intakeOne,
858+
cmd_turretHomeLeft,
752859
cmd_shooterAuto,
860+
frc2::WaitCommand((units::second_t).125),
861+
cmd_intakeClearDeque,
862+
cmd_intakeAuto,
753863
cmd_move_moveMarvinRed,
754864
cmd_intakeDisable,
755-
cmd_move_moveMarvinShootRed,
865+
cmd_move_moveMarvinShootAltRed,
756866
cmd_turretTrack,
757867
frc2::WaitCommand((units::second_t).5),
758868
cmd_intakeShoot,
759869
frc2::WaitCommand((units::second_t).5),
760-
cmd_intakeAuto,
761-
cmd_move_moveTasRed,
762-
cmd_move_moveSpeedyFromTasRed,
763-
cmd_turretHomeLeft,
764-
cmd_shooterPoop,
765-
frc2::WaitCommand((units::second_t).5),
766-
cmd_intakeShoot,
870+
cmd_intakeOne,
871+
cmd_move_moveSpeedyFromAltRed,
872+
cmd_move_moveTasFromSpeedyRed,
873+
cmd_move_moveHangarRed,
874+
cmd_intakeReverse,
767875
frc2::WaitCommand((units::second_t)1),
768876
cmd_intakeDisable,
769-
cmd_move_moveEndFromSpeedyRed
877+
cmd_move_moveEndRed,
878+
cmd_turretHomeRight
770879
);
880+
771881
frc2::SequentialCommandGroup *shoot2Def2Blue = new frc2::SequentialCommandGroup();
772882
shoot2Def2Blue->AddCommands
773883
(cmd_set2ballOdometryBlue,
774884
cmd_intakeOne,
885+
cmd_turretHomeLeft,
775886
cmd_shooterAuto,
887+
frc2::WaitCommand((units::second_t).125),
888+
cmd_intakeClearDeque,
889+
cmd_intakeAuto,
776890
cmd_move_moveMarvinBlue,
777891
cmd_intakeDisable,
778-
cmd_move_moveMarvinShootBlue,
892+
cmd_move_moveMarvinShootAltBlue,
779893
cmd_turretTrack,
780894
frc2::WaitCommand((units::second_t).5),
781895
cmd_intakeShoot,
782896
frc2::WaitCommand((units::second_t).5),
783-
cmd_intakeAuto,
784-
cmd_move_moveTasBlue,
785-
//cmd_move_moveSpeedyFromTasBlue,
786-
cmd_turretHomeLeft,
787-
cmd_shooterPoop,
788-
frc2::WaitCommand((units::second_t).5),
789-
cmd_intakeShoot,
897+
cmd_intakeOne,
898+
cmd_move_moveSpeedyFromAltBlue,
899+
cmd_move_moveTasFromSpeedyBlue,
900+
cmd_move_moveHangarBlue,
901+
cmd_intakeReverse,
790902
frc2::WaitCommand((units::second_t)1),
791903
cmd_intakeDisable,
792-
cmd_move_moveEndFromSpeedyBlue
904+
cmd_move_moveEndBlue,
905+
cmd_turretHomeRight
793906
);
794907

795-
m_chooser.AddOption("RED 2 ball auto alt", shoot2RedAlt);
796-
m_chooser.AddOption("Blue 2 ball auto alt", shoot2BlueAlt);
908+
m_chooser.AddOption("RED 2 ball + 1 Defensive", shoot2RedAlt);
909+
m_chooser.AddOption("Blue 2 ball + 1 Defensive", shoot2BlueAlt);
910+
911+
m_chooser.AddOption("RED 2 ball + 2 Defensive", shoot2Def2Red);
912+
m_chooser.AddOption("Blue 2 ball + 2 Defensive", shoot2Def2Blue);
913+
797914

798915

799916
m_chooser.AddOption("RED 3 ball auto", shoot3Red);

‎Competition/src/main/cpp/subsystems/Drivetrain.cpp‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -252,7 +252,7 @@ void Drivetrain::assignOutputs()
252252
ySpeedMPS = units::meters_per_second_t{ySpeed};
253253
if(rot != 0){
254254
int sign = std::signbit(rot) == 0 ? 1 : -1;
255-
rotRPS = units::radians_per_second_t{SwerveConstants::ROTATION_SLOW_SPEED_RPS};
255+
rotRPS = units::radians_per_second_t{rot * SwerveConstants::ROTATION_SLOW_SPEED_RPS};
256256
}
257257
}
258258
// double heading = getPose_m().Rotation().Degrees().to<double>();

‎Competition/src/main/cpp/subsystems/Feeder.cpp‎

Lines changed: 1 addition & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -192,6 +192,7 @@ void Feeder::resetDeque() {
192192
for (int i = 0; i < FeederConstants::CACHE_SIZE; i++) {
193193
state.current_cache.push_back(0);
194194
}
195+
state.spiked = false;
195196
}
196197

197198
void Feeder::resetState()

‎Competition/src/main/include/Constants.h‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -234,7 +234,7 @@ namespace FeederConstants{
234234
constexpr static int BANNER_DIO_PORT = 5;
235235

236236
constexpr static double DEFAULT_INTAKE_SPEED_FORWARD = 0.7;
237-
constexpr static double DEFAULT_INTAKE_SPEED_REVERSE = -0.9;
237+
constexpr static double DEFAULT_INTAKE_SPEED_REVERSE = -1;
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constexpr static double DEFAULT_FEEDER_SPEED_FORWARD_DEFAULT = 0.5;
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constexpr static double DEFAULT_FEEDER_SPEED_FORWARD_SHOOT = 0.9;

‎Competition/src/main/include/subsystems/Feeder.h‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -78,7 +78,7 @@ class Feeder : public ValorSubsystem
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FeederState feederState;
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} state;
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81-
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void resetDeque();
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private:
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frc::XboxController *driverController;
@@ -91,7 +91,7 @@ class Feeder : public ValorSubsystem
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void calcCurrent();
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void resetDeque();
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};
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