Bordie at sea comp changes (#188)

Author: Jetblackdragon

src/main/deploy/pathplanner/autos/OSWRSF_E-D-C.auto

@@ -1072,6 +1072,14 @@ private void configureSoloControllerBindings() {
                             .asProxy()
                         : Commands.none())
                 .withName("Manual Coral Intake"));
+    // Ground Intake Hold out
+    soloController
+        .povUp()
+        .whileTrue(
+            s.groundArm
+                .moveToPosition(GroundArm.GROUND_POSITION)
+                .andThen(Commands.idle())
+                .withName("ground up position"));
     // Arm manual
     soloController
         .rightStick()
@@ -1087,5 +1095,11 @@ private void configureSoloControllerBindings() {
                 .startMovingVoltage(
                     () -> Volts.of(ElevatorSubsystem.UP_VOLTAGE * -soloController.getLeftY()))
                 .withName("Elevator Manual Control"));
+    // Ready to score rumble
+    Trigger readyToScore = new Trigger(() -> AutoAlign.poseInPlace());
+    readyToScore.onTrue(
+        Commands.runOnce(() -> soloController.setRumble(RumbleType.kBothRumble, 1.0)));
+    readyToScore.onFalse(
+        Commands.runOnce(() -> soloController.setRumble(RumbleType.kBothRumble, 0.0)));
   }
 }

src/main/deploy/pathplanner/paths/OSW to D.path

@@ -43,7 +43,7 @@ public class Hardware {
   public static final int ELEVATOR_ZERO_BUTTON = 0;
 
   // climb DIO
-  public static final int CLIMB_SENSOR = 9;
+  public static final int CLIMB_SENSOR = 8;
 
   // vision
   public static final String PHOTON_IP = "10.24.12.11";

src/main/deploy/pathplanner/paths/YSW to K.path

@@ -17,9 +17,9 @@ public class ArmSensor {
   private final LaserCan mainSensor;
   // VALUES ARE IN METERS
   private static final double TROUGH_LOWER_LIMIT = 0.10;
-  private static final double TROUGH_UPPER_LIMIT = 0.20;
+  private static final double TROUGH_UPPER_LIMIT = 0.25;
   private static final double CLAW_LOWER_LIMIT = 0.01;
-  private static final double CLAW_UPPER_LIMIT = 0.09;
+  private static final double CLAW_UPPER_LIMIT = 0.13;
 
   public ArmSensor() {
     mainSensor = new LaserCan(Hardware.MAIN_ARM_SENSOR);

src/main/java/frc/robot/Controls.java

@@ -32,7 +32,7 @@
 
 public class ArmPivot extends SubsystemBase {
   // Presets
-  private final double ARMPIVOT_KP = 50; // previously 38.5
+  private final double ARMPIVOT_KP = 38.5; // previously 50
   private final double ARMPIVOT_KI = 0;
   private final double ARMPIVOT_KD = 0;
   private final double ARMPIVOT_KS = 0.1;
@@ -195,9 +195,9 @@ public void factoryDefaults() {
     talonFXConfiguration.MotorOutput.NeutralMode = NeutralModeValue.Brake;
 
     // enabling current limits
-    talonFXConfiguration.CurrentLimits.StatorCurrentLimit = 40;
+    talonFXConfiguration.CurrentLimits.StatorCurrentLimit = 20; // previously 40
     talonFXConfiguration.CurrentLimits.StatorCurrentLimitEnable = true;
-    talonFXConfiguration.CurrentLimits.SupplyCurrentLimit = 20;
+    talonFXConfiguration.CurrentLimits.SupplyCurrentLimit = 10; // previously 20
     talonFXConfiguration.CurrentLimits.SupplyCurrentLimitEnable = true;
 
     // PID

src/main/java/frc/robot/Hardware.java

@@ -47,7 +47,7 @@ public enum TargetPositions {
   private final double CLIMB_OUT_MAX_PRESET = -0.150;
   private final double CLIMB_OUT_MIN_PRESET = -0.177;
   private final double CLIMBED_MAX_PRESET = -0.325;
-  private final double CLIMBED_MIN_PRESET = -0.333;
+  private final double CLIMBED_MIN_PRESET = -0.34;
   private final double FORWARD_SOFT_STOP = -0.07;
   private final double REVERSE_SOFT_STOP = -78;
   private final double CLIMB_OUT_SPEED = 1.0;

src/main/java/frc/robot/sensors/ArmSensor.java

@@ -48,6 +48,10 @@ public static boolean readyToScore() {
     return isStationary() && isLevel() && isCloseEnough();
   }
 
+  public static boolean poseInPlace() {
+    return isStationary() && isCloseEnough();
+  }
+
   public static boolean isStationary() {
     var speeds = AutoLogic.s.drivebaseSubsystem.getState().Speeds;
     return MathUtil.isNear(0, speeds.vxMetersPerSecond, 0.01)

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

@@ -123,6 +123,7 @@ public static enum StartPosition {
           new AutoPath("YSMLSF_K-L-A", "YSMLSF_K-L-A"),
           new AutoPath("YSWLSC_K-L-A", "YSWLSC_K-L-A"),
           new AutoPath("OSWRSF_D-C-B", "OSWRSF_D-C-B"),
+          new AutoPath("OSWRSF_E-D-C", "OSWRSF_E-D-C"),
           new AutoPath("YSMLSC_K-L-A", "YSMLSC_K-L-A"),
           new AutoPath("M_H-GHA-IJA", "M_H-GHA-IJA"));