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Brownout fix testing & Controls update #1

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Merged
davidikeda merged 2 commits into from
Sep 21, 2026
Merged

Brownout fix testing & Controls update #1

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5af1038
Brownout Fixes?
davidikeda Sep 17, 2026
bcdcc7f
Control Changes
davidikeda Sep 21, 2026
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90 changes: 28 additions & 62 deletions src/main/java/frc/robot/RobotContainer.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -33,6 +33,7 @@ public class RobotContainer {
private CommandXboxController operator = new CommandXboxController(2);
private final SendableChooser<Command> autoChooser;
public static boolean isExtended = false;
public static boolean intaking = false;
private SwerveDrivetrain.SwerveDriveState driveState = drivetrain.getState();

private Command shootGroup =
Expand Down Expand Up @@ -157,76 +158,41 @@ private void configureBindings() {
controller::getRightX));

/* Controls */
// Left Trigger = Flywheel On and Off
controller
.rightTrigger()
.toggleOnTrue(
new DrivetrainCommand(
drivetrain,
DrivetrainCommand.Position.AUTO_ALIGN_HUB,
controller::getLeftX,
controller::getLeftY,
controller::getRightX));
// Y = Shoot Toggle
controller
.y()
.leftTrigger()
.toggleOnTrue(
(shootGroup
.alongWith(hopperShoot)
.alongWith(new IntakeCommand(intake, IntakeCommand.Position.SLOW_INTAKE))));
// X = Intake Toggle
controller
.x()
.and(() -> !shootGroup.isScheduled())
.toggleOnTrue(new IntakeCommand(intake, IntakeCommand.Position.INTAKE));
// Left Plus = Kicker Outtake Toggle
new FlywheelCommand(flywheel, FlywheelCommand.Position.TRENCH_SHOT, drivetrain));
// Right Trigger = Shoot On and Off
controller
.povLeft()
.and(() -> !shootGroup.isScheduled())
.toggleOnTrue(new KickerCommand(kicker, KickerCommand.Position.OUTTAKE));
// Right Plus = Intake Outtake Toggle
.rightTrigger()
.toggleOnTrue(new KickerCommand(kicker, KickerCommand.Position.INTAKE));

// Left Back Button = Shoot Reverse BACK LEFT MAPPED TO A
controller.a().onTrue(new KickerCommand(kicker, KickerCommand.Position.OUTTAKE));

// Left Bumper = Hopper deploy/stow toggle
controller
.povRight()
.and(() -> !shootGroup.isScheduled())
.toggleOnTrue(new IntakeCommand(intake, IntakeCommand.Position.OUTTAKE));
// Right Stick Down = Retract Hopper
.leftBumper()
.onTrue(
Commands.defer(
() ->
new HopperCommand(
hopper, HopperCommand.Position.EXTEND_RETRACT, RobotContainer.isExtended),
java.util.Set.of(hopper)));

// Left Bumper = Intake ON/OFF toggle
controller
.rightStick()
.rightBumper()
.and(() -> !shootGroup.isScheduled())
.onTrue(
Commands.run(() -> hopper.move(HopperConfig.HOPPER_RETRACT_ROTATION), hopper)
.withDeadline(Commands.waitSeconds(2)));
.toggleOnTrue(new IntakeCommand(intake, IntakeCommand.Position.INTAKE));

// Right Bumper = Reverse intake, HELD, Back ight mapped to B
controller.b().whileTrue(new IntakeCommand(intake, IntakeCommand.Position.OUTTAKE));

// Back button = Zero Pigeon
controller.back().onTrue(Commands.runOnce(drivetrain::zeroPigeon));
// Right Bumper = Flywheel Toggle for pass
controller
.rightBumper()
.toggleOnTrue(new FlywheelCommand(flywheel, FlywheelCommand.Position.PASS, drivetrain));
// Left Bumper = Flywheel Toggle for trench shot speeds
controller
.leftBumper()
.toggleOnTrue(
new FlywheelCommand(flywheel, FlywheelCommand.Position.TRENCH_SHOT, drivetrain));
// Left Trigger = Flywheel Toggle for calculated shot speeds
controller
.leftTrigger()
.toggleOnTrue(
new FlywheelCommand(flywheel, FlywheelCommand.Position.CALCULATED_SHOT, drivetrain));
// Down Plus = Zero hopper
controller.povDown().onTrue(Commands.runOnce(() -> hopper.zero(), hopper));
// Intake Extend Shoot
controller
.b()
.toggleOnTrue(
Commands.parallel(
new KickerCommand(kicker, KickerCommand.Position.INTAKE),
new IntakeCommand(intake, IntakeCommand.Position.SLOW_INTAKE),
Commands.run(() -> hopper.move(HopperConfig.HOPPER_EXTEND_ROTATION))));
// Hopper Extend
controller
.a()
.onTrue(
Commands.run(() -> hopper.move(HopperConfig.HOPPER_EXTEND_ROTATION), hopper)
.withDeadline(Commands.waitSeconds(2)));

/* Operator */
operator
.leftBumper()
Expand Down
4 changes: 2 additions & 2 deletions src/main/java/frc/robot/config/FlywheelConfig.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -11,7 +11,7 @@ public class FlywheelConfig {

// Set
public static final double FLYWHEEL_RIGHT_MAX_CRUISE_VELOCITY = 3000;
public static final double FLYWHEEL_RIGHT_TARGET_ACCELERATION = 500;
public static final double FLYWHEEL_RIGHT_TARGET_ACCELERATION = 400;
public static final double FLYWHEEL_RIGHT_P = 0.25;
public static final double FLYWHEEL_RIGHT_I = 0;
public static final double FLYWHEEL_RIGHT_D = 0;
Expand All @@ -21,7 +21,7 @@ public class FlywheelConfig {

// Set
public static final double FLYWHEEL_LEFT_MAX_CRUISE_VELOCITY = 3000;
public static final double FLYWHEEL_LEFT_TARGET_ACCELERATION = 500;
public static final double FLYWHEEL_LEFT_TARGET_ACCELERATION = 400;
public static final double FLYWHEEL_LEFT_P = 0.25;
public static final double FLYWHEEL_LEFT_I = 0;
public static final double FLYWHEEL_LEFT_D = 0;
Expand Down
62 changes: 31 additions & 31 deletions vendordeps/Phoenix6-26.1.1.json → vendordeps/Phoenix6-26.3.0.json
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
{
"fileName": "Phoenix6-26.1.1.json",
"fileName": "Phoenix6-26.3.0.json",
"name": "CTRE-Phoenix (v6)",
"version": "26.1.1",
"version": "26.3.0",
"frcYear": "2026",
"uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
"mavenUrls": [
Expand All @@ -19,14 +19,14 @@
{
"groupId": "com.ctre.phoenix6",
"artifactId": "wpiapi-java",
"version": "26.1.1"
"version": "26.3.0"
}
],
"jniDependencies": [
{
"groupId": "com.ctre.phoenix6",
"artifactId": "api-cpp",
"version": "26.1.1",
"version": "26.3.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
Expand All @@ -40,7 +40,7 @@
{
"groupId": "com.ctre.phoenix6",
"artifactId": "tools",
"version": "26.1.1",
"version": "26.3.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
Expand All @@ -54,7 +54,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "api-cpp-sim",
"version": "26.1.1",
"version": "26.3.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
Expand All @@ -68,7 +68,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "tools-sim",
"version": "26.1.1",
"version": "26.3.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
Expand All @@ -82,7 +82,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simTalonSRX",
"version": "26.1.1",
"version": "26.3.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
Expand All @@ -96,7 +96,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simVictorSPX",
"version": "26.1.1",
"version": "26.3.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
Expand All @@ -110,7 +110,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simPigeonIMU",
"version": "26.1.1",
"version": "26.3.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
Expand All @@ -124,7 +124,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProTalonFX",
"version": "26.1.1",
"version": "26.3.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
Expand All @@ -138,7 +138,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProTalonFXS",
"version": "26.1.1",
"version": "26.3.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
Expand All @@ -152,7 +152,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProCANcoder",
"version": "26.1.1",
"version": "26.3.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
Expand All @@ -166,7 +166,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProPigeon2",
"version": "26.1.1",
"version": "26.3.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
Expand All @@ -180,7 +180,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProCANrange",
"version": "26.1.1",
"version": "26.3.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
Expand All @@ -194,7 +194,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProCANdi",
"version": "26.1.1",
"version": "26.3.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
Expand All @@ -208,7 +208,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProCANdle",
"version": "26.1.1",
"version": "26.3.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
Expand All @@ -224,7 +224,7 @@
{
"groupId": "com.ctre.phoenix6",
"artifactId": "wpiapi-cpp",
"version": "26.1.1",
"version": "26.3.0",
"libName": "CTRE_Phoenix6_WPI",
"headerClassifier": "headers",
"sharedLibrary": true,
Expand All @@ -240,7 +240,7 @@
{
"groupId": "com.ctre.phoenix6",
"artifactId": "tools",
"version": "26.1.1",
"version": "26.3.0",
"libName": "CTRE_PhoenixTools",
"headerClassifier": "headers",
"sharedLibrary": true,
Expand All @@ -256,7 +256,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "wpiapi-cpp-sim",
"version": "26.1.1",
"version": "26.3.0",
"libName": "CTRE_Phoenix6_WPISim",
"headerClassifier": "headers",
"sharedLibrary": true,
Expand All @@ -272,7 +272,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "tools-sim",
"version": "26.1.1",
"version": "26.3.0",
"libName": "CTRE_PhoenixTools_Sim",
"headerClassifier": "headers",
"sharedLibrary": true,
Expand All @@ -288,7 +288,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simTalonSRX",
"version": "26.1.1",
"version": "26.3.0",
"libName": "CTRE_SimTalonSRX",
"headerClassifier": "headers",
"sharedLibrary": true,
Expand All @@ -304,7 +304,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simVictorSPX",
"version": "26.1.1",
"version": "26.3.0",
"libName": "CTRE_SimVictorSPX",
"headerClassifier": "headers",
"sharedLibrary": true,
Expand All @@ -320,7 +320,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simPigeonIMU",
"version": "26.1.1",
"version": "26.3.0",
"libName": "CTRE_SimPigeonIMU",
"headerClassifier": "headers",
"sharedLibrary": true,
Expand All @@ -336,7 +336,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProTalonFX",
"version": "26.1.1",
"version": "26.3.0",
"libName": "CTRE_SimProTalonFX",
"headerClassifier": "headers",
"sharedLibrary": true,
Expand All @@ -352,7 +352,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProTalonFXS",
"version": "26.1.1",
"version": "26.3.0",
"libName": "CTRE_SimProTalonFXS",
"headerClassifier": "headers",
"sharedLibrary": true,
Expand All @@ -368,7 +368,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProCANcoder",
"version": "26.1.1",
"version": "26.3.0",
"libName": "CTRE_SimProCANcoder",
"headerClassifier": "headers",
"sharedLibrary": true,
Expand All @@ -384,7 +384,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProPigeon2",
"version": "26.1.1",
"version": "26.3.0",
"libName": "CTRE_SimProPigeon2",
"headerClassifier": "headers",
"sharedLibrary": true,
Expand All @@ -400,7 +400,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProCANrange",
"version": "26.1.1",
"version": "26.3.0",
"libName": "CTRE_SimProCANrange",
"headerClassifier": "headers",
"sharedLibrary": true,
Expand All @@ -416,7 +416,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProCANdi",
"version": "26.1.1",
"version": "26.3.0",
"libName": "CTRE_SimProCANdi",
"headerClassifier": "headers",
"sharedLibrary": true,
Expand All @@ -432,7 +432,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProCANdle",
"version": "26.1.1",
"version": "26.3.0",
"libName": "CTRE_SimProCANdle",
"headerClassifier": "headers",
"sharedLibrary": true,
Expand Down
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