remove intake suicide from speaker auto

FRC-4509-MechBulls · Feb 25, 2024 · 58f3481 · 58f3481
1 parent 19096b2
commit 58f3481
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Showing 3 changed files with 3 additions and 33 deletions.
diff --git a/src/main/deploy/pathplanner/autos/four-speaker.auto b/src/main/deploy/pathplanner/autos/four-speaker.auto
@@ -154,38 +154,6 @@
           "data": {
             "name": "ejectMode"
           }
-        },
-        {
-          "type": "parallel",
-          "data": {
-            "commands": [
-              {
-                "type": "path",
-                "data": {
-                  "pathName": "speaker6"
-                }
-              },
-              {
-                "type": "sequential",
-                "data": {
-                  "commands": [
-                    {
-                      "type": "wait",
-                      "data": {
-                        "waitTime": 0.3
-                      }
-                    },
-                    {
-                      "type": "named",
-                      "data": {
-                        "name": "intakeMode"
-                      }
-                    }
-                  ]
-                }
-              }
-            ]
-          }
         }
       ]
     }

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -117,7 +117,7 @@ public static class OperatorConstants {
     public static final double turnMaxSpeed = 11; //11
 
 
-    public static final double maxDrivePower = 0.2;
+    public static final double maxDrivePower = 0.6;
 
     public static final double controllerDeadband = 0.06;
 

diff --git a/src/main/java/frc/robot/subsystems/drive/SwerveSubsystem.java b/src/main/java/frc/robot/subsystems/drive/SwerveSubsystem.java
@@ -318,6 +318,8 @@ public void periodic() {
 
     SmartDashboard.putNumber("frontLeftDrivePos",frontLeft.getPosition().distanceMeters);
 
+    SmartDashboard.putNumberArray("modulePositions",new double[]{frontLeft.getPosition().distanceMeters,frontRight.getPosition().distanceMeters,rearLeft.getPosition().distanceMeters,rearRight.getPosition().distanceMeters});
+    SmartDashboard.putNumberArray("moduleHeadings",new double[]{frontLeft.getAngle(),frontRight.getAngle(),rearLeft.getAngle(),rearRight.getAngle()});
Original file line number	Diff line number	Diff line change
Expand Up		@@ -318,6 +318,8 @@ public void periodic() {

		SmartDashboard.putNumber("frontLeftDrivePos",frontLeft.getPosition().distanceMeters);

		SmartDashboard.putNumberArray("modulePositions",new double[]{frontLeft.getPosition().distanceMeters,frontRight.getPosition().distanceMeters,rearLeft.getPosition().distanceMeters,rearRight.getPosition().distanceMeters});
		SmartDashboard.putNumberArray("moduleHeadings",new double[]{frontLeft.getAngle(),frontRight.getAngle(),rearLeft.getAngle(),rearRight.getAngle()});



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