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Fixed another issue #24

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Merged
Niosocket11 merged 3 commits into from
Mar 21, 2026
Merged

Fixed another issue #24

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c876483
Fixed another issue
Niosocket11 Mar 20, 2026
2c4777f
fixed tims thingy that tim really wanted
Niosocket11 Mar 21, 2026
66ee6b0
Merge branch 'master' into ConveyorOscillate
Niosocket11 Mar 21, 2026
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22 changes: 22 additions & 0 deletions src/main/java/org/carlmontrobotics/commands/ManipulatorCommands/SmartShoot.java
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Original file line number Diff line number Diff line change
Expand Up @@ -10,6 +10,7 @@
import org.carlmontrobotics.subsystems.Intake;
import org.carlmontrobotics.subsystems.Outtake;

import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;

Expand All @@ -20,6 +21,9 @@ public class SmartShoot extends Command {
private final Outtake outtake;
private final Intake intake;
private final double goalRPM;
private final Timer timer;

private final boolean oscillate = true;
private final double boost;

/** Creates a new SmartShoot. */
Expand All @@ -28,6 +32,7 @@ public SmartShoot(Outtake outtake, Intake intake, double RPM, boolean addFeederB
goalRPM = RPM;
this.outtake = outtake;
this.intake = intake;
timer = new Timer();
if (addFeederBoost) {
boost = 0.3;
}
Expand All @@ -41,12 +46,28 @@ public SmartShoot(Outtake outtake, Intake intake, double RPM, boolean addFeederB
@Override
public void initialize() {
outtake.spinOuttake(goalRPM);
timer.restart();

}

// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
if(outtake.atVelGoal(goalRPM, OUTTAKE_ESTIMATE_OFFSET)){
outtake.spinOuttakeFeeder(OUTTAKE_FEEDER_VOLT_PERC);
if (oscillate) {
if (timer.get() > 5) {
timer.restart();
intake.spinConveyor(-0.2);
}
else if (timer.get() > 0.5) {
timer.restart();
intake.spinConveyor(CONVEYOR_SPEED);
}
}
else {
intake.spinConveyor(CONVEYOR_SPEED);
}
outtake.spinOuttakeFeeder(OUTTAKE_FEEDER_VOLT_PERC+boost);
intake.spinConveyor(CONVEYOR_SPEED);
}
Expand All @@ -58,6 +79,7 @@ public void end(boolean interrupted) {
outtake.stopOuttake();
outtake.spinOuttakeFeeder(0);
intake.stopConveyor();
timer.stop();
}

// Returns true when the command should end.
Expand Down