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Work april 4 #109

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368c2f8
shake during ferry
blaze-developer Apr 4, 2026
7963382
April 4th
blaze-developer Apr 6, 2026
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13 changes: 13 additions & 0 deletions src/main/deploy/tuning/arc.json
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Original file line number Diff line number Diff line change
Expand Up @@ -116,6 +116,19 @@
"velocity": 70.0
}
]
},
{
"hood": 45.0,
"points": [
{
"distance": 5.5,
"velocity": 65
},
{
"distance": 6.5,
"velocity": 65
}
]
}
]
}
2 changes: 1 addition & 1 deletion src/main/java/frc/robot/RobotState.java
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Original file line number Diff line number Diff line change
Expand Up @@ -67,7 +67,7 @@ public static void periodic() {
? ShooterConstants.Positions.blueAllianceWall
: ShooterConstants.Positions.redAllianceWall;

inAllianceZone = currentPose.getMeasureX().minus(allianceWall).abs(Meters) < ShooterConstants.Positions.spinUpZone.in(Meters);
inAllianceZone = currentPose.getMeasureX().minus(allianceWall).abs(Meters) < ShooterConstants.Positions.allianceZone.in(Meters);

// Other logging
var shift = HubShiftUtil.getOfficialShiftInfo();
Expand Down
23 changes: 20 additions & 3 deletions src/main/java/frc/robot/commands/robot/RobotCommands.java
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Expand Up @@ -69,11 +69,18 @@ public static Command shootHubNoAim(Shooter shooter, Hopper hopper, IntakeSubsys
BooleanSupplier shouldStopShooting =
() -> !drive.rotationIsNear(RobotState.rotationToHub(), ShooterConstants.defenseTolerance);

BooleanSupplier upToSpeedAndAimed =
() -> shouldShoot.getAsBoolean() && shooter.isShooterReady();

return Commands.repeatingSequence(
Commands.waitUntil(shouldShoot),
Commands.waitUntil(upToSpeedAndAimed),
hopper.feedForShooting(shouldShoot, intake)
.until(shouldStopShooting)
).alongWith(shooter.shootAtDistance(RobotState::hubDistance));
).alongWith(
Commands.waitUntil(upToSpeedAndAimed)
.deadlineFor(shooter.spinUpForDistance(RobotState::hubDistance))
.andThen(shooter.shootAtDistance(RobotState::hubDistance))
);
}

/**
Expand Down Expand Up @@ -107,9 +114,19 @@ public static Command ferry(Shooter shooter, Hopper hopper, IntakeSubsystem inta
return new Rotation2d(botToTarget.getX(), botToTarget.getY());
};

BooleanSupplier ready = () ->
drive.rotationIsNear(targetingAngle.get(), ShooterConstants.aimingTolerance)
&& shooter.isShooterReady();

return DriveCommands.joystickDriveAtAngle(targetingAngle)
.alongWith(
shooter.shootAtDistance(targetDistance),
Commands.waitUntil(ready)
.deadlineFor(shooter.spinUpForDistance(targetDistance))
.andThen(shooter.shootAtDistance(targetDistance)),

Commands.waitUntil(ready)
.andThen(hopper.feedForShooting(() -> true, intake)),

Commands.runOnce(() -> {
Logger.recordOutput("Ferry/Target", target.get());
Logger.recordOutput("Ferry/IsFerrying", true);
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4 changes: 3 additions & 1 deletion src/main/java/frc/robot/subsystems/shooter/Shooter.java
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Expand Up @@ -254,7 +254,9 @@ public Command shootAtDistance(Supplier<Distance> distance) {
() -> RotationsPerSecond.of(shooterParams.get().velocity),
() -> Degrees.of(shooterParams.get().hood)
)
).finallyDo(interrupted -> Logger.recordOutput("Command/ShootAtDistance", false));
)
.finallyDo(interrupted -> Logger.recordOutput("Command/ShootAtDistance", false))
.deadlineFor(Commands.run(() -> Logger.recordOutput("Shooter/ShotDistance", distance.get())));
}

/**
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11 changes: 5 additions & 6 deletions src/main/java/frc/robot/subsystems/shooter/ShooterConstants.java
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Expand Up @@ -19,7 +19,7 @@ public class ShooterConstants {
public static final int shooter2CANID = 1;
public static final int shooter3CANID = 2;

public static final Current currentLimit = Amps.of(60);
public static final Current currentLimit = Amps.of(50);
public static final Time currentLimitTime = Seconds.of(0.2);

//
Expand Down Expand Up @@ -84,16 +84,15 @@ public class Positions {
public static final Translation2d redHubPose = new Translation2d(11.938,4.034536);

public static final Distance allianceZone = Meters.of(4.5974);
public static final Distance spinUpZone = Meters.of(6.0);

public static final Distance blueAllianceWall = Meters.of(0);
public static final Distance redAllianceWall = Meters.of(FieldConstants.layout.getFieldLength());

public static final Translation2d blueTargetLeft = new Translation2d(2,6);
public static final Translation2d blueTargetRight = new Translation2d(2,2);
public static final Translation2d blueTargetLeft = new Translation2d(1,6);
public static final Translation2d blueTargetRight = new Translation2d(1,2);

public static final Translation2d redTargetLeft = new Translation2d(14,6);
public static final Translation2d redTargetRight = new Translation2d(14,2);
public static final Translation2d redTargetLeft = new Translation2d(15,6);
public static final Translation2d redTargetRight = new Translation2d(15,2);

public static final double centerLineY = 4.034536;
}
Expand Down
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