Merge pull request #209 from strykeforce/rkalnins/unbag

Rkalnins/unbag

Author: mwitcpalek

networktables.ini

@@ -809,4 +809,4 @@ boolean "/SmartDashboard/Vacuum/cool/.controllable"=true
 boolean "/SmartDashboard/Vacuum/cool/.isParented"=false
 string "/SmartDashboard/Vacuum/cool/.name"="VacuumCooldownCommandGroup"
 string "/SmartDashboard/Vacuum/cool/.type"="Command"
-boolean "/SmartDashboard/Vacuum/cool/running"=false
+boolean "/SmartDashboard/Vacuum/cool/running"=false

networktables-stjoe1024.ini renamed to nt/networktables-airtight-2.ini

@@ -7,14 +7,14 @@
 public class ClimbJogCommand extends InstantCommand {
 
   private static final ClimbSubsystem CLIMB = Robot.CLIMB;
-  private double velocity;
+  private double percent;
 
-  public ClimbJogCommand(double velocity) {
-    this.velocity = velocity;
+  public ClimbJogCommand(double percent) {
+    this.percent = percent;
   }
 
   @Override
   protected void initialize() {
-    CLIMB.setVelocity(velocity);
+    CLIMB.openLoop(percent);
   }
 }

networktables.ini.bak renamed to nt/networktables.ini.bak

@@ -47,10 +47,10 @@ public class DriverControls {
 
     // Climb Commands
     new JoystickButton(joystick, Button.UP.id)
-        .whenPressed(new ClimbJogCommand(ClimbSubsystem.kJogUpVelocity));
+        .whenPressed(new ClimbJogCommand(ClimbSubsystem.kJogUpPercent));
     new JoystickButton(joystick, Button.UP.id).whenReleased(new StopClimbCommand());
     new JoystickButton(joystick, Button.DOWN.id)
-        .whenPressed(new ClimbJogCommand(ClimbSubsystem.kJogDownVelocity));
+        .whenPressed(new ClimbJogCommand(ClimbSubsystem.kJogDownPercent));
     new JoystickButton(joystick, Button.DOWN.id).whenReleased(new StopClimbCommand());
 
     // biscuit

src/main/java/frc/team2767/deepspace/command/climb/ClimbJogCommand.java

@@ -31,8 +31,8 @@ public class ClimbSubsystem extends Subsystem implements Item {
   private static final String PREFS = "ClimbSubsystem/Settings/";
   private static final double BACKUP = 2767;
   public static double kSealVelocity;
-  public static double kJogUpVelocity = -0.20;
-  public static double kJogDownVelocity = 0.20;
+  public static double kJogUpPercent = -0.20;
+  public static double kJogDownPercent = 0.20;
   public static double kDownOpenLoopOutput = 1.0;
   public static double kUpOpenLoopOutput = -1.0;
   public static double kDownClimbOutput = 0.75;
@@ -65,11 +65,11 @@ public ClimbSubsystem() {
   }
 
   private void climbPrefs() {
-    kHabHover = (int) getPrefs("low_position", 180);
-    kLowRelease = (int) getPrefs("medium_position", 675);
-    kHighRelease = (int) getPrefs("high_position", 175);
-    kClimb = (int) getPrefs("climb_position", 870);
-    kTooLowIn = (int) getPrefs("too_low_position", 280);
+    kHabHover = (int) getPrefs("low_position", 195);
+    kLowRelease = (int) getPrefs("medium_position", 679);
+    kHighRelease = (int) getPrefs("high_position", 189);
+    kClimb = (int) getPrefs("climb_position", 884);
+    kTooLowIn = (int) getPrefs("too_low_position", 240);
     kSealVelocity = getPrefs("seal_velocity", 50);
 
     kLeftKickstandHold = getPrefs("L_kickstand_hold", 0.4);

src/main/java/frc/team2767/deepspace/control/DriverControls.java

@@ -90,7 +90,7 @@ private void vacuumPreferences() {
     kHatchPressureInHg = getPreference("hatch_pressure_inHg", 16);
     kClimbPressureInHg = getPreference("climb_pressure_inHg", 24.4);
     kGoodEnoughGamePiece = (int) getPreference("gamepiece_good_enough_inTicks", 80);
-    kGoodEnoughClimb = (int) getPreference("climb_good_enough_inTicks", 200);
+    kGoodEnoughClimb = (int) getPreference("climb_good_enough_inTicks", 400);
   }
 
   @SuppressWarnings("Duplicates")

src/main/java/frc/team2767/deepspace/subsystem/ClimbSubsystem.java

@@ -212,29 +212,17 @@ public String toString() {
 
     return "current="
         + "\n\t"
-        + elevatorCurrent
-        + "\t"
         + elevatorSubsystem.getTicks()
         + "\n\t"
-        + intakeCurrent
-        + "\t"
         + intakeSubsystem.getTicks()
         + "\n\t"
-        + biscuitCurrent
-        + "\t"
         + biscuitSubsystem.getTicks()
         + "\nlimits="
         + "\n\t"
         + elevatorLimit
-        + "\t"
-        + elevatorLimit.toString()
         + "\n\t"
         + intakeLimit
-        + "\t"
-        + intakeLimit.toString()
         + "\n\t"
-        + biscuitLimit
-        + "\t"
-        + biscuitLimit.toString();
+        + biscuitLimit;
   }
 }