From fe46fef5ed66186c68b36033a722119183986b40 Mon Sep 17 00:00:00 2001 From: Jackson Wess Date: Sun, 22 Feb 2026 15:08:44 -0500 Subject: [PATCH 1/4] save commit --- src/main/deploy/YAGSL/real/modules/backleft.json | 4 ++-- src/main/deploy/YAGSL/real/modules/backright.json | 4 ++-- src/main/deploy/YAGSL/real/modules/frontleft.json | 6 +++--- src/main/deploy/YAGSL/real/modules/frontright.json | 4 ++-- src/main/java/frc/robot/RobotContainer.java | 2 +- 5 files changed, 10 insertions(+), 10 deletions(-) diff --git a/src/main/deploy/YAGSL/real/modules/backleft.json b/src/main/deploy/YAGSL/real/modules/backleft.json index 68fe824..d281a0c 100644 --- a/src/main/deploy/YAGSL/real/modules/backleft.json +++ b/src/main/deploy/YAGSL/real/modules/backleft.json @@ -3,7 +3,7 @@ "front": -9, "left": 9 }, - "absoluteEncoderOffset": 0, + "absoluteEncoderOffset": 163.523681640625, "drive": { "type": "sparkmax_neo", "id": 58, @@ -16,7 +16,7 @@ }, "encoder": { "type": "cancoder", - "id": 14, + "id": 39, "canbus": null }, "inverted": { diff --git a/src/main/deploy/YAGSL/real/modules/backright.json b/src/main/deploy/YAGSL/real/modules/backright.json index 5def9fc..6bf2cfa 100644 --- a/src/main/deploy/YAGSL/real/modules/backright.json +++ b/src/main/deploy/YAGSL/real/modules/backright.json @@ -3,7 +3,7 @@ "front": -9, "left": -9 }, - "absoluteEncoderOffset": 0, + "absoluteEncoderOffset": 173.1658477783203, "drive": { "type": "sparkmax_neo", "id": 59, @@ -16,7 +16,7 @@ }, "encoder": { "type": "cancoder", - "id": 13, + "id": 38, "canbus": null }, "inverted": { diff --git a/src/main/deploy/YAGSL/real/modules/frontleft.json b/src/main/deploy/YAGSL/real/modules/frontleft.json index ba408ec..d38a82c 100644 --- a/src/main/deploy/YAGSL/real/modules/frontleft.json +++ b/src/main/deploy/YAGSL/real/modules/frontleft.json @@ -3,7 +3,7 @@ "front": 9, "left": 9 }, - "absoluteEncoderOffset": 0, + "absoluteEncoderOffset": 31.695663452148438, "drive": { "type": "sparkmax_neo", "id": 57, @@ -16,11 +16,11 @@ }, "encoder": { "type": "cancoder", - "id": 11, + "id": 37, "canbus": null }, "inverted": { - "drive": false, + "drive": true, "angle": false }, "absoluteEncoderInverted": false diff --git a/src/main/deploy/YAGSL/real/modules/frontright.json b/src/main/deploy/YAGSL/real/modules/frontright.json index 57a9348..9799514 100644 --- a/src/main/deploy/YAGSL/real/modules/frontright.json +++ b/src/main/deploy/YAGSL/real/modules/frontright.json @@ -3,7 +3,7 @@ "front": 9, "left": -9 }, - "absoluteEncoderOffset": 0, + "absoluteEncoderOffset": 182.8125, "drive": { "type": "sparkmax_neo", "id": 60, @@ -16,7 +16,7 @@ }, "encoder": { "type": "cancoder", - "id": 12, + "id": 40, "canbus": null }, "inverted": { diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index ebb851f..56bad1d 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -534,7 +534,7 @@ public AutoChooser getAutoChooser() { public IntakeSubsystem getIntakeSubsystem() { return intakeSubsystem; } - + public SwerveSubsystem getDriveBase() { return drivebase; } From c441acc4c836f401864d134cd3ed9dc1339085ca Mon Sep 17 00:00:00 2001 From: Jackson Wess Date: Sun, 22 Feb 2026 16:16:30 -0500 Subject: [PATCH 2/4] Added correct swerve drive values --- src/main/deploy/YAGSL/real/modules/backleft.json | 2 +- src/main/deploy/YAGSL/real/modules/backright.json | 2 +- src/main/deploy/YAGSL/real/modules/frontleft.json | 2 +- src/main/deploy/YAGSL/real/modules/frontright.json | 2 +- 4 files changed, 4 insertions(+), 4 deletions(-) diff --git a/src/main/deploy/YAGSL/real/modules/backleft.json b/src/main/deploy/YAGSL/real/modules/backleft.json index d281a0c..fb1bf98 100644 --- a/src/main/deploy/YAGSL/real/modules/backleft.json +++ b/src/main/deploy/YAGSL/real/modules/backleft.json @@ -20,7 +20,7 @@ "canbus": null }, "inverted": { - "drive": false, + "drive": true, "angle": false }, "absoluteEncoderInverted": false diff --git a/src/main/deploy/YAGSL/real/modules/backright.json b/src/main/deploy/YAGSL/real/modules/backright.json index 6bf2cfa..951e851 100644 --- a/src/main/deploy/YAGSL/real/modules/backright.json +++ b/src/main/deploy/YAGSL/real/modules/backright.json @@ -20,7 +20,7 @@ "canbus": null }, "inverted": { - "drive": false, + "drive": true, "angle": false }, "absoluteEncoderInverted": false diff --git a/src/main/deploy/YAGSL/real/modules/frontleft.json b/src/main/deploy/YAGSL/real/modules/frontleft.json index d38a82c..2619662 100644 --- a/src/main/deploy/YAGSL/real/modules/frontleft.json +++ b/src/main/deploy/YAGSL/real/modules/frontleft.json @@ -3,7 +3,7 @@ "front": 9, "left": 9 }, - "absoluteEncoderOffset": 31.695663452148438, + "absoluteEncoderOffset": 30.09307861328125, "drive": { "type": "sparkmax_neo", "id": 57, diff --git a/src/main/deploy/YAGSL/real/modules/frontright.json b/src/main/deploy/YAGSL/real/modules/frontright.json index 9799514..ae03e76 100644 --- a/src/main/deploy/YAGSL/real/modules/frontright.json +++ b/src/main/deploy/YAGSL/real/modules/frontright.json @@ -20,7 +20,7 @@ "canbus": null }, "inverted": { - "drive": false, + "drive": true, "angle": false }, "absoluteEncoderInverted": false From 10038cfbb386ff5037080f7547552e2ca78d580c Mon Sep 17 00:00:00 2001 From: Jackson Wess Date: Sun, 22 Feb 2026 16:20:27 -0500 Subject: [PATCH 3/4] removed times 1 --- src/main/java/frc/robot/commands/climber/ClimberDown.java | 2 +- src/main/java/frc/robot/commands/climber/ClimberUp.java | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/commands/climber/ClimberDown.java b/src/main/java/frc/robot/commands/climber/ClimberDown.java index 60f5d72..0ec3f13 100644 --- a/src/main/java/frc/robot/commands/climber/ClimberDown.java +++ b/src/main/java/frc/robot/commands/climber/ClimberDown.java @@ -26,7 +26,7 @@ public void initialize() { @Override public void execute() { - subsystem.setSpeed(1 * Constants.CLIMBER_SPEED_DOWN); + subsystem.setSpeed(Constants.CLIMBER_SPEED_DOWN); } @Override diff --git a/src/main/java/frc/robot/commands/climber/ClimberUp.java b/src/main/java/frc/robot/commands/climber/ClimberUp.java index b095408..cf73f89 100644 --- a/src/main/java/frc/robot/commands/climber/ClimberUp.java +++ b/src/main/java/frc/robot/commands/climber/ClimberUp.java @@ -26,7 +26,7 @@ public void initialize() { @Override public void execute() { - subsystem.setSpeed(1 * Constants.CLIMBER_SPEED_UP); + subsystem.setSpeed(Constants.CLIMBER_SPEED_UP); } @Override From 0b4c95029a29a481b1519aaf8efde74148a2e427 Mon Sep 17 00:00:00 2001 From: Jackson Wess Date: Sun, 22 Feb 2026 17:02:44 -0500 Subject: [PATCH 4/4] speed/testing motors --- src/main/java/frc/robot/RobotContainer.java | 5 ++++- .../frc/robot/constants/GameConstants.java | 18 +++++++++--------- 2 files changed, 13 insertions(+), 10 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index b0588ed..46e3078 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -25,6 +25,7 @@ import frc.robot.commands.feeder.SpinFeeder; import frc.robot.commands.drive.FakeVision; import frc.robot.commands.intake.SpinIntake; +import frc.robot.commands.intake.StopIntake; import frc.robot.commands.intakeDeployment.InitialRunDeployment; import frc.robot.commands.intakeDeployment.RunDeployer; import frc.robot.commands.intakeDeployment.SetDeploymentState; @@ -439,6 +440,9 @@ public void putShuffleboardCommands() { SmartDashboard.putData( "Spin Intake", new SpinIntake(intakeSubsystem)); + SmartDashboard.putData( + "Stop Intake", + new StopIntake(intakeSubsystem)); SmartDashboard.putData( "Start Hopper", @@ -489,7 +493,6 @@ public void putShuffleboardCommands() { "intakedeployer/Deployment State: STOPPED", new SetDeploymentState(intakeDeployer, DeploymentState.STOPPED)); - } //basic drive command diff --git a/src/main/java/frc/robot/constants/GameConstants.java b/src/main/java/frc/robot/constants/GameConstants.java index 5e9cf45..03005f4 100644 --- a/src/main/java/frc/robot/constants/GameConstants.java +++ b/src/main/java/frc/robot/constants/GameConstants.java @@ -46,22 +46,22 @@ public enum Mode { public static final double ROLLER_SPEED = 0.25; public static final double TILT_SPEED = -0.5; // Arm motor is inverted - use negative speed public static final double INTAKE_SPEED = -0.5; - public static final double HOPPER_SPEED = 0.1; - public static final double CLIMBER_SPEED_UP = 0.5; - public static final double CLIMBER_SPEED_DOWN = -0.25; - public static final double FEEDER_SPEED = 0.5; + public static final double HOPPER_SPEED = 0.1;//Want to increase this later + public static final double CLIMBER_SPEED_UP = 0.1; + public static final double CLIMBER_SPEED_DOWN = -0.1; + public static final double FEEDER_SPEED = 0.5;//Might make veolcity PID public static final double MAX_SPEED = Units.feetToMeters(14.5); public static final double SHOOTER_SPEED = 100; - public static final double INTAKE_DEPLOYER_SPEED = 0.5; - public static final double INTAKE_RETRACTION_SPEED = -0.5; - public static final double INITIAL_INTAKE_DEPLOYER_SPEED = 10; - public static final double INITIAL_INTAKE_RETRACTION_SPEED = -10; + public static final double INTAKE_DEPLOYER_SPEED = 0.25; + public static final double INTAKE_RETRACTION_SPEED = -0.1; + public static final double INITIAL_INTAKE_DEPLOYER_SPEED = 0.25; + public static final double INITIAL_INTAKE_RETRACTION_SPEED = -0.1; //Timeouts public static final double SPIN_TIMEOUT = 5; public static final double TILT_TIMEOUT = 5; - public static final double HOPPER_TIMEOUT = 60; + public static final double HOPPER_TIMEOUT = 5; public static final double CLIMBER_TIMEOUT = 10; public static final double FEEDER_TIMEOUT = 60; public static final double ANGLER_TIMEOUT = 5;