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Fix processor #110

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Merged
Lyssia-Seiden merged 2 commits into from
Apr 8, 2025
Merged

Fix processor #110

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120fb52
wait on chassis vel instead of time
spellingcat Apr 8, 2025
9664ff1
exit based on postiion
spellingcat Apr 8, 2025
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18 changes: 17 additions & 1 deletion src/main/java/frc/robot/subsystems/Superstructure.java
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Original file line number Diff line number Diff line change
@@ -1,9 +1,11 @@
package frc.robot.subsystems;

import edu.wpi.first.math.MathUtil;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.kinematics.ChassisSpeeds;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.DriverStation.Alliance;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Command.InterruptionBehavior;
Expand All @@ -20,6 +22,7 @@
import frc.robot.subsystems.shoulder.ShoulderSubsystem;
import frc.robot.subsystems.wrist.WristSubsystem;
import frc.robot.utils.autoaim.AlgaeIntakeTargets;
import frc.robot.utils.autoaim.AutoAim;
import frc.robot.utils.autoaim.CoralTargets;
import frc.robot.utils.autoaim.HumanPlayerTargets;
import java.util.HashMap;
Expand Down Expand Up @@ -799,7 +802,20 @@ private void configureStateTransitionCommands() {
.whileTrue(shoulder.setTargetAngleSlow(ShoulderSubsystem.SHOULDER_SCORE_PROCESSOR_POS))
.whileTrue(wrist.setTargetAngle(WristSubsystem.WRIST_SCORE_PROCESSOR_POS))
.whileTrue(manipulator.setVoltage(-2.0))
.and(() -> stateTimer.hasElapsed(2.0))
.and(
() ->
!MathUtil.isNear(
pose.get().getX(),
DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Blue
? AutoAim.BLUE_PROCESSOR_POS.getX()
: AutoAim.RED_PROCESSOR_POS.getX(),
0.5)
|| !MathUtil.isNear(
pose.get().getY(),
DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Blue
? AutoAim.BLUE_PROCESSOR_POS.getY()
: AutoAim.RED_PROCESSOR_POS.getY(),
0.5))
.onTrue(this.forceState(SuperState.IDLE));

stateTriggers
Expand Down