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Tested robot code on real robot #89

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JAMthepersonj Feb 22, 2026
c441acc
Added correct swerve drive values
JAMthepersonj Feb 22, 2026
10038cf
removed times 1
JAMthepersonj Feb 22, 2026
6017ecf
Merge branch 'main' into JW-Swerve-testing-RM
armadilloz Feb 22, 2026
1c1f370
Merge remote-tracking branch 'origin/JW-Swerve-testing-RM' into JW-Sw…
armadilloz Feb 22, 2026
0b4c950
speed/testing motors
JAMthepersonj Feb 22, 2026
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6 changes: 3 additions & 3 deletions src/main/deploy/YAGSL/real/modules/backleft.json
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@
"front": -9,
"left": 9
},
"absoluteEncoderOffset": 0,
"absoluteEncoderOffset": 163.523681640625,
"drive": {
"type": "sparkmax_neo",
"id": 58,
Expand All @@ -16,11 +16,11 @@
},
"encoder": {
"type": "cancoder",
"id": 14,
"id": 39,
"canbus": null
},
"inverted": {
"drive": false,
"drive": true,
"angle": false
},
"absoluteEncoderInverted": false
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6 changes: 3 additions & 3 deletions src/main/deploy/YAGSL/real/modules/backright.json
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@
"front": -9,
"left": -9
},
"absoluteEncoderOffset": 0,
"absoluteEncoderOffset": 173.1658477783203,
"drive": {
"type": "sparkmax_neo",
"id": 59,
Expand All @@ -16,11 +16,11 @@
},
"encoder": {
"type": "cancoder",
"id": 13,
"id": 38,
"canbus": null
},
"inverted": {
"drive": false,
"drive": true,
"angle": false
},
"absoluteEncoderInverted": false
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6 changes: 3 additions & 3 deletions src/main/deploy/YAGSL/real/modules/frontleft.json
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@
"front": 9,
"left": 9
},
"absoluteEncoderOffset": 0,
"absoluteEncoderOffset": 30.09307861328125,
"drive": {
"type": "sparkmax_neo",
"id": 57,
Expand All @@ -16,11 +16,11 @@
},
"encoder": {
"type": "cancoder",
"id": 11,
"id": 37,
"canbus": null
},
"inverted": {
"drive": false,
"drive": true,
"angle": false
},
"absoluteEncoderInverted": false
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6 changes: 3 additions & 3 deletions src/main/deploy/YAGSL/real/modules/frontright.json
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@
"front": 9,
"left": -9
},
"absoluteEncoderOffset": 0,
"absoluteEncoderOffset": 182.8125,
"drive": {
"type": "sparkmax_neo",
"id": 60,
Expand All @@ -16,11 +16,11 @@
},
"encoder": {
"type": "cancoder",
"id": 12,
"id": 40,
"canbus": null
},
"inverted": {
"drive": false,
"drive": true,
"angle": false
},
"absoluteEncoderInverted": false
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7 changes: 5 additions & 2 deletions src/main/java/frc/robot/RobotContainer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
Expand Down Expand Up @@ -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",
Expand Down Expand Up @@ -489,7 +493,6 @@ public void putShuffleboardCommands() {
"intakedeployer/Deployment State: STOPPED",
new SetDeploymentState(intakeDeployer, DeploymentState.STOPPED));


}

//basic drive command
Expand Down Expand Up @@ -531,7 +534,7 @@ public AutoChooser getAutoChooser() {
public IntakeSubsystem getIntakeSubsystem() {
return intakeSubsystem;
}

public SwerveSubsystem getDriveBase() {
return drivebase;
}
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2 changes: 1 addition & 1 deletion src/main/java/frc/robot/commands/climber/ClimberDown.java
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Original file line number Diff line number Diff line change
Expand Up @@ -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
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2 changes: 1 addition & 1 deletion src/main/java/frc/robot/commands/climber/ClimberUp.java
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Original file line number Diff line number Diff line change
Expand Up @@ -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
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18 changes: 9 additions & 9 deletions src/main/java/frc/robot/constants/GameConstants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
Expand Down