Worlds prod branch #12
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press button seventeen to activate
improved the arm to chute position
stuff middle score doing better taking out feed forward stuff
cbpe123
commented
Apr 20, 2023
| InstantCommand resetPoseToBeginning = new InstantCommand( | ||
| ()-> m_robotDrive.resetOdometry(new Pose2d(0,0,new Rotation2d(Math.toRadians(180))))); | ||
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| new JoystickButton(copilotController, 3).onTrue(resetPoseToBeginning); | ||
| //new JoystickButton(copilotController, 4).onTrue(testAutoMoveAim); | ||
| new JoystickButton(copilotController, 4).onTrue(new MoveArmToFeeder(m_ArmSubsystem, -77, 0, 10)); |
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@HanSolo626 delete this
cbpe123
commented
Apr 20, 2023
| m_chooser.addOption("escape", rightEscape); | ||
| m_chooser.addOption("do nothing", doNothing); | ||
| // m_chooser.addOption("left escape", leftEscape); | ||
| m_chooser.setDefaultOption("Score High Cone", new InstantCommand()); |
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@HanSolo626 name is incorrect
cbpe123
commented
Apr 20, 2023
| @@ -55,6 +55,7 @@ public ArmLower(Boolean fastMode, ArmSubsystem armed, double uAP, double lAP, do | |||
| // Called when the command is initially scheduled. | |||
| @Override | |||
| public void initialize() { | |||
| m_armSubsystem.setUpperP(DriveConstants.defaultUpperArmP); | |||
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@HanSolo626 should delete this line
cbpe123
commented
Apr 20, 2023
| @@ -103,6 +103,7 @@ public void end(boolean interrupted) { | |||
| if(slowMode || fastMode){ | |||
| m_armSubsystem.setUpperArmOutputRange(DriveConstants.m_upperArmMinSpeed,DriveConstants.m_upperArmMaxSpeed); | |||
| } | |||
| m_armSubsystem.setWristOutputRange(DriveConstants.m_wristMinSpeed, DriveConstants.m_wristMaxSpeed); | |||
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@HanSolo626 delete this
|
four jobs complete |
cbpe123
commented
Apr 20, 2023
| } | ||
| else{ | ||
| m_armSubsystem.setUpperP(DriveConstants.defaultUpperArmP); |
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@HanSolo626 should delete this
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