Super Cycling Barge

src/main/java/frc/robot/generated/CompTunerConstants.java

@@ -55,7 +55,7 @@ public class CompTunerConstants {
 
   // The stator current at which the wheels start to slip;
   // This needs to be tuned to your individual robot
-  private static final Current kSlipCurrent = Amps.of(120.0);
+  private static final Current kSlipCurrent = Amps.of(80.0);
 
   // Initial configs for the drive and steer motors and the azimuth encoder; these cannot be null.
   // Some configs will be overwritten; check the `with*InitialConfigs()` API documentation.

src/main/java/frc/robot/sensors/ElevatorLight.java

@@ -16,7 +16,7 @@
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Hardware;
-import frc.robot.util.ScoringMode;
+import frc.robot.util.SoloScoringMode;
 import java.util.function.DoubleSupplier;
 import java.util.function.Supplier;
 
@@ -82,13 +82,15 @@ public Command animate(LEDPattern animation, String name) {
         .withName("Animate" + name);
   }
 
-  public Command showScoringMode(Supplier<ScoringMode> scoringMode) {
+  public Command showScoringMode(Supplier<SoloScoringMode> scoringMode) {
     return run(() -> {
-          ScoringMode currentMode = scoringMode.get();
-          if (currentMode == ScoringMode.ALGAE) {
+          SoloScoringMode currentMode = scoringMode.get();
+          if (currentMode == SoloScoringMode.ALGAE_IN_CLAW) {
             updateLEDs(LEDPattern.solid(Color.kTeal));
-          } else {
+          } else if (currentMode == SoloScoringMode.CORAL_IN_CLAW) {
             updateLEDs(LEDPattern.solid(Color.kWhite));
+          } else if (currentMode == SoloScoringMode.NO_GAME_PIECE) {
+            updateLEDs(LEDPattern.solid(Color.kDeepPink));
           }
         })
         .withName("Animate Scoring Mode");

src/main/java/frc/robot/sensors/IntakeSensor.java

@@ -15,8 +15,8 @@ public class IntakeSensor {
 
   private final LaserCan intakeSensor;
   // VALUES ARE IN METERS
-  private static final double INTAKE_LOWER_LIMIT = 0.010;
-  private static final double INTAKE_UPPER_LIMIT = 0.1;
+  private static final double INTAKE_LOWER_LIMIT = 0.005;
+  private static final double INTAKE_UPPER_LIMIT = 0.05;
 
   public IntakeSensor() {
     intakeSensor = new LaserCan(Hardware.GROUND_INTAKE_SENSOR);
@@ -29,7 +29,7 @@ public IntakeSensor() {
   private void ConfigureSensor(LaserCan Sensor) {
     try {
       Sensor.setRangingMode(LaserCan.RangingMode.SHORT);
-      Sensor.setRegionOfInterest(new LaserCan.RegionOfInterest(8, 8, 16, 16));
+      Sensor.setRegionOfInterest(new LaserCan.RegionOfInterest(4, 4, 16, 16));
       Sensor.setTimingBudget(LaserCan.TimingBudget.TIMING_BUDGET_33MS);
     } catch (ConfigurationFailedException e) {
       System.out.println("Configuration Failed! " + e);
@@ -59,4 +59,9 @@ public Trigger inIntake() {
             })
         .debounce(0.1);
   }
+
+  public boolean booleanInIntake() {
+    double distance = getSensorDistance().in(Meters);
+    return distance > INTAKE_LOWER_LIMIT && distance < INTAKE_UPPER_LIMIT;
+  }
 }

src/main/java/frc/robot/subsystems/ArmPivot.java

@@ -195,9 +195,9 @@ public void factoryDefaults() {
     talonFXConfiguration.MotorOutput.NeutralMode = NeutralModeValue.Brake;
 
     // enabling current limits
-    talonFXConfiguration.CurrentLimits.StatorCurrentLimit = 80; // starting low for testing
+    talonFXConfiguration.CurrentLimits.StatorCurrentLimit = 80;
     talonFXConfiguration.CurrentLimits.StatorCurrentLimitEnable = true;
-    talonFXConfiguration.CurrentLimits.SupplyCurrentLimit = 40; // starting low for testing
+    talonFXConfiguration.CurrentLimits.SupplyCurrentLimit = 20;
     talonFXConfiguration.CurrentLimits.SupplyCurrentLimitEnable = true;
 
     // PID

src/main/java/frc/robot/subsystems/ClimbPivot.java

@@ -56,7 +56,7 @@ public enum TargetPositions {
   private final double CLIMB_HOLD_CLIMBED = -0.0705;
   private final double CLIMB_IN_SPEED = -0.75;
 
-  private final double climbInKp = 30;
+  private final double climbInKp = 50;
   private final double climbOutKp = 50;
 
   // positions for relation between motor encoder and WCP encoder

src/main/java/frc/robot/subsystems/GroundSpinny.java

@@ -16,7 +16,7 @@ public class GroundSpinny extends SubsystemBase {
   public static final double GROUND_INTAKE_JITTER_SPEED = 1;
   public static final double FUNNEL_INTAKE_SPEED = -2;
   public static final double QUICK_HANDOFF_EXTAKE_SPEED = 1;
-  private static final double STATOR_CURRENT_STALL_THRESHOLD = 20;
+  private static final double STATOR_CURRENT_STALL_THRESHOLD = 50;
 
   // TalonFX
   private final TalonFX motor;

src/main/java/frc/robot/subsystems/SuperStructure.java

@@ -203,6 +203,21 @@ public Command groundIntake(BooleanSupplier retract) {
     }
   }
 
+  public Command holdGroundIntakeOut(BooleanSupplier retract) {
+    if (groundSpinny == null || groundArm == null) {
+      return Commands.none().withName("hold ground intake disabled");
+    }
+
+    return Commands.sequence(
+            Commands.parallel(
+                groundArm
+                    .moveToPosition(GroundArm.GROUND_POSITION)
+                    .andThen(groundArm.setVoltage(GroundArm.GROUND_HOLD_VOLTAGE))
+                    .until(retract),
+                groundSpinny.setGroundIntakePower()))
+        .withName("Hold Ground Intake Out");
+  }
+
   // This is the actual version in use. It moves the coral directly into the claw.
   public Command quickGroundIntake(BooleanSupplier retract) { // thanks joseph
     if (groundSpinny == null || groundArm == null || intakeSensor == null) {

src/main/java/frc/robot/util/SoloScoringMode.java

@@ -0,0 +1,7 @@
+package frc.robot.util;
+
+public enum SoloScoringMode {
+  CORAL_IN_CLAW,
+  ALGAE_IN_CLAW,
+  NO_GAME_PIECE;
+}