elims buttons, algae score bug, tighter algae hold

Author: ds12a

src/main/java/frc/robot/RobotContainer.java

@@ -838,8 +838,8 @@ public void updateCanivoreStatus() {
   }
 
   public void updateCANErrorCount() {
-    rCanErrors = RobotController.getCANStatus().receiveErrorCount;
-    tCanErrors = RobotController.getCANStatus().transmitErrorCount;
+    rCanErrors += RobotController.getCANStatus().receiveErrorCount;
+    tCanErrors += RobotController.getCANStatus().transmitErrorCount;
   }
 
   public void disableNoMotionCal() {

src/main/java/frc/robot/commands/robotState/ForceBargeCommand.java

@@ -28,6 +28,7 @@ public ForceBargeCommand(
 
   @Override
   public void initialize() {
+    hasEjectedToBarge = false;
     startState = robotStateSubsystem.getState();
     startingElevatorFinished = elevatorSubsystem.isFinished();
     robotStateSubsystem.setAlgaeHeight(AlgaeHeight.HIGH);

src/main/java/frc/robot/commands/robotState/ForceProcessorCommand.java

@@ -28,6 +28,7 @@ public ForceProcessorCommand(
 
   @Override
   public void initialize() {
+    hasEjectedToBarge = false;
     startState = robotStateSubsystem.getState();
     startingElevatorFinished = elevatorSubsystem.isFinished();
     robotStateSubsystem.setAlgaeHeight(AlgaeHeight.LOW);

src/main/java/frc/robot/commands/robotState/ScoreAlgaeCommand.java

@@ -26,6 +26,7 @@ public ScoreAlgaeCommand(
 
   @Override
   public void initialize() {
+    hasEjectedToBarge = false;
     startState = robotStateSubsystem.getState();
     startingElevatorFinished = elevatorSubsystem.isFinished();
     if (startState == RobotStates.PROCESSOR_ALGAE || startState == RobotStates.BARGE_ALGAE) {

src/main/java/frc/robot/subsystems/algae/AlgaeIO.java

@@ -7,6 +7,7 @@ public interface AlgaeIO {
   @AutoLog
   public static class AlgaeIOInputs {
     public double velocity;
+    public double statorCurrent;
     public boolean isBeamBroken;
     public boolean isCoralBeamBroken;
   }

src/main/java/frc/robot/subsystems/algae/AlgaeIOFX.java

@@ -10,6 +10,7 @@
 import com.ctre.phoenix6.signals.ForwardLimitValue;
 import com.ctre.phoenix6.signals.ReverseLimitValue;
 import edu.wpi.first.units.measure.AngularVelocity;
+import edu.wpi.first.units.measure.Current;
 import frc.robot.constants.AlgaeConstants;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
@@ -37,6 +38,7 @@ public class AlgaeIOFX implements AlgaeIO, Checkable {
   private StatusSignal<ReverseLimitValue> revLimitSwitch;
   private VelocityVoltage speedRequest = new VelocityVoltage(0).withEnableFOC(false).withSlot(0);
   private DutyCycleOut dutyCycleRequest = new DutyCycleOut(0).withEnableFOC(false);
+  private StatusSignal<Current> statorCurrent;
 
   public AlgaeIOFX() {
     logger = LoggerFactory.getLogger(this.getClass());
@@ -49,14 +51,16 @@ public AlgaeIOFX() {
     fwdLimitSwitch = talonFXS.getForwardLimit();
     revLimitSwitch = talonFXS.getReverseLimit();
     curVelocity = talonFXS.getVelocity();
+    statorCurrent = talonFXS.getStatorCurrent();
   }
 
   @Override
   public void updateInputs(AlgaeIOInputs inputs) {
-    BaseStatusSignal.refreshAll(curVelocity, fwdLimitSwitch, revLimitSwitch);
+    BaseStatusSignal.refreshAll(curVelocity, fwdLimitSwitch, revLimitSwitch, statorCurrent);
     inputs.velocity = curVelocity.getValueAsDouble();
     inputs.isBeamBroken = fwdLimitSwitch.getValue().value == 0;
     inputs.isCoralBeamBroken = revLimitSwitch.getValue().value == 1;
+    inputs.statorCurrent = statorCurrent.getValueAsDouble();
   }
 
   @Override

src/main/java/frc/robot/subsystems/algae/AlgaeSubsystem.java

@@ -63,7 +63,7 @@ public void scoreCoral() {
 
   public void holdAlgae() {
     // setSpeed(AlgaeConstants.kHoldSpeed);
-    setPct(0.06);
+    setPct(0.08);
   }
 
   public void holdCoral() {