Small changes to algae destage and other speed changes

chopshop-166 · Jan 18, 2025 · da88ee7 · da88ee7
1 parent e67b175
commit da88ee7
Show file tree

Hide file tree

Showing 3 changed files with 13 additions and 6 deletions.
diff --git a/src/main/java/frc/robot/maps/Alpha.java b/src/main/java/frc/robot/maps/Alpha.java
@@ -20,6 +20,9 @@
 import com.pathplanner.lib.config.PIDConstants;
 import com.pathplanner.lib.config.RobotConfig;
 import com.pathplanner.lib.controllers.PPHolonomicDriveController;
+
+import com.revrobotics.spark.SparkBase.PersistMode;
+import com.revrobotics.spark.SparkBase.ResetMode;
 import com.revrobotics.spark.SparkLowLevel.PeriodicFrame;
 import com.revrobotics.spark.config.SparkMaxConfig;
 
@@ -118,17 +121,21 @@ public SwerveDriveMap getDriveMap() {
 
     @Override
     public AlgaeDestageMap getAlgaeDestageMap() {
-        CSSparkMax motor = new CSSparkMax(9);
-        return new AlgaeDestageMap(motor);
+        // CSSparkMax motor = new CSSparkMax(9);
+        // SparkMaxConfig config = new SparkMaxConfig();
+        // config.smartCurrentLimit(30);
+        // motor.getMotorController().configure(config,
+        // ResetMode.kNoResetSafeParameters, PersistMode.kPersistParameters);
+        return new AlgaeDestageMap();
     }
 
     @Override
     public OuttakeMap getOuttakeMap() {
         CSSparkMax leftWheels = new CSSparkMax(10);
         CSSparkMax rightWheels = new CSSparkMax(11);
-        // rightWheels.setInverted(true);
         rightWheels.setInverted(false);
-        CSDigitalInput sensor = new CSDigitalInput(9); // same channel as last year dont know if its right
+        CSDigitalInput sensor = new CSDigitalInput(9); // same channel as last year
+        // dont know if its right
         return new OuttakeMap(leftWheels, rightWheels, sensor::get);
     }
 

diff --git a/src/main/java/frc/robot/subsystems/AlgaeDestage.java b/src/main/java/frc/robot/subsystems/AlgaeDestage.java
@@ -11,7 +11,7 @@
 
 public class AlgaeDestage extends LoggedSubsystem<Data, AlgaeDestageMap> {
 
-    public static double DESTAGE_SPEED = 1.0;
+    public static double DESTAGE_SPEED = -0.5;
 
     public AlgaeDestage(AlgaeDestageMap algaeDestageMap) {
         super(new Data(), algaeDestageMap);

diff --git a/src/main/java/frc/robot/subsystems/Outtake.java b/src/main/java/frc/robot/subsystems/Outtake.java
@@ -12,7 +12,7 @@ public class Outtake extends LoggedSubsystem<Data, OuttakeMap> {
 
     private final double RELEASE_SPEEDRIGHT = 0.3;
     private final double RELEASE_SPEEDLEFT = 0.1;
-    private final double INTAKE_SPEED = 0.2;
+    private final double INTAKE_SPEED = 0.3;
     private final double RELEASE_DELAY = 1;
     private final double DELAY = 0.0;