Event/unh

rio/constants.py

@@ -166,7 +166,8 @@ class SuperStrucConstants:
     # angles for shooter
     ShootPos = 321
     LoadPos = 204
-    ClimbPos = 277
+    ClimbPos = 285
+    HarmonyPos = 316
 
     # CANSpark IDS
     rotateID = 11
@@ -200,8 +201,8 @@ class IntakeConstants:
 
     # conversion factor
     kLiftConversion = 1  # Configured feb 12 by joe
-    SuckPos = 0.541
-    BlowPos = 0.005
+    SuckPos = 0.645
+    BlowPos = 0.1
     # lift pid
     kLiftP = 3.3
     kLiftI = 0.0000001

rio/robotcontainer.py

@@ -180,11 +180,6 @@ def configureButtonBindings(self) -> None:
             )
         )
 
-        # set Shooter to climb position
-        self.driverController.y().onTrue(
-            ShooterROT(SuperStrucConstants.ClimbPos, self.shooter)
-        )
-
         # Deliver to amp (button a), part a
         self.driverController.a().onTrue(
             commands2.SequentialCommandGroup(
@@ -220,18 +215,10 @@ def configureButtonBindings(self) -> None:
 
         # Climbing
         self.driverController.pov(0).whileTrue(
-            Climb(
-                1,
-                self.climber,
-                self.shooter,
-            )
+            ShooterROT(SuperStrucConstants.HarmonyPos, self.shooter)
         )
         self.driverController.pov(180).whileTrue(
-            Climb(
-                -1,
-                self.climber,
-                self.shooter,
-            )
+            ShooterROT(SuperStrucConstants.ClimbPos, self.shooter)
         )
 
         self.driverController.leftBumper().whileTrue(
@@ -279,8 +266,8 @@ def configureButtonBindings(self) -> None:
 
         # shooter keybinds
         # shooter movement
-        self.opController.button(3).whileTrue(manualROT(0.5, self.shooter))
-        self.opController.button(4).whileTrue(manualROT(-0.5, self.shooter))
+        self.opController.button(3).whileTrue(manualROT(0.2, self.shooter))
+        self.opController.button(4).whileTrue(manualROT(-0.2, self.shooter))
 
         # climber
         self.opController.button(5).whileTrue(Climb(0.4, self.climber, self.shooter))

rio/simgui-window.json

@@ -26,7 +26,7 @@
     "###FMS": {
       "Collapsed": "0",
       "Pos": "5,540",
-      "Size": "169,184"
+      "Size": "283,140"
     },
     "###Joysticks": {
       "Collapsed": "0",

rio/subsystems/intake.py

@@ -87,7 +87,7 @@ def periodic(self) -> None:
         self.sd.putNumber(
             "Thermals/Intake/Rotate", self.liftMotor.getMotorTemperature()
         )
-        # print(self.liftEncoder.getPosition())
+        logging.debug(f" Lift encoder is {self.liftEncoder.getPosition()}")
 
     def intake(self, speed):
         self.intakeMotor.set(speed)