Merge pull request #58 from aaditsangvikar/dev

arm tuning, intake current limits

Author: TotalTaxAmount

build.gradle

@@ -14,7 +14,7 @@ repositories {
 }
 
 
-def ROBOT_MAIN_CLASS = "frc.robot.Main"
+def ROBOT_MAIN_CLASS = "org.blackknights.Main"
 
 // Define my targets (RoboRIO) and artifacts (deployable files)
 // This is added by GradleRIO's backing project DeployUtils.

src/main/java/org/blackknights/RobotContainer.java

@@ -102,13 +102,41 @@ private void configureBindings() {
 
         elevatorSubsystem.setDefaultCommand(new BaseCommand(elevatorSubsystem, armSubsystem));
 
+        primaryController.dpadDown.whileTrue(new RunCommand(() -> swerveSubsystem.zeroGyro()));
+
+        // SECONDARY CONTROLLER
+
         climberSubsystem.setDefaultCommand(
                 new ClimberCommand(climberSubsystem, secondaryController));
 
-        primaryController.dpadDown.whileTrue(new RunCommand(() -> swerveSubsystem.zeroGyro()));
+        //        secondaryController.leftBumper.onTrue(new InstantCommand(() ->
+        // coralQueue.stepBackwards()));
+        //        secondaryController.rightBumper.onTrue(new InstantCommand(() ->
+        // coralQueue.stepForwards()));
+
+        secondaryController.aButton.whileTrue(
+                new ElevatorArmCommand(
+                        elevatorSubsystem,
+                        armSubsystem,
+                        () -> ScoringConstants.ScoringHeights.INTAKE));
+
+        secondaryController.bButton.whileTrue(
+                new ElevatorArmCommand(
+                        elevatorSubsystem, armSubsystem, () -> ScoringConstants.ScoringHeights.L2));
+
+        secondaryController.xButton.whileTrue(
+                new ElevatorArmCommand(
+                        elevatorSubsystem, armSubsystem, () -> ScoringConstants.ScoringHeights.L3));
+
+        secondaryController.yButton.whileTrue(
+                new ElevatorArmCommand(
+                        elevatorSubsystem, armSubsystem, () -> ScoringConstants.ScoringHeights.L4));
+
+        secondaryController.leftBumper.whileTrue(
+                new IntakeCommand(intakeSubsystem, IntakeCommand.IntakeMode.INTAKE, () -> false));
 
-        secondaryController.leftBumper.onTrue(new InstantCommand(() -> coralQueue.stepBackwards()));
-        secondaryController.rightBumper.onTrue(new InstantCommand(() -> coralQueue.stepForwards()));
+        secondaryController.rightBumper.whileTrue(
+                new IntakeCommand(intakeSubsystem, IntakeCommand.IntakeMode.OUTTAKE, () -> false));
     }
 
     /** Runs once when the code starts */

src/main/java/org/blackknights/constants/ArmConstants.java

@@ -14,7 +14,7 @@ public class ArmConstants {
     public static final TrapezoidProfile.Constraints PIVOT_CONSTRAINTS =
             new TrapezoidProfile.Constraints(PIVOT_MAX_VELOCITY, PIVOT_MAX_ACCELERATION);
 
-    public static final double PIVOT_ENCODER_OFFSET = 5.167;
+    public static final double PIVOT_ENCODER_OFFSET = 1.581; // 5.167
 
     public static final double PIVOT_KS = 0.0;
     public static final double PIVOT_KG = 0.0;

src/main/java/org/blackknights/subsystems/IntakeSubsystem.java

@@ -12,6 +12,9 @@ public class IntakeSubsystem extends SubsystemBase {
     /** Create a new intake subsystem */
     public IntakeSubsystem() {
         motor.setInverted(false);
+        motor.enableCurrentLimit(true);
+        motor.configContinuousCurrentLimit(20);
+        motor.configPeakCurrentLimit(0);
     }
 
     /**