Merge pull request #54 from Team537/improve-operator-offset-controls

Improve operator offset controls

Author: quipp

src/main/java/frc/robot/Constants.java

@@ -58,7 +58,7 @@ public static class ErrorSettings {
             public static final int TURRET_OFFSET_DECIMAL_PLACE = 1;
             public static final double HOOD_OFFSET_INCREASE = 0.1;
             public static final int HOOD_OFFSET_DECIMAL_PLACE = 1;
-            public static final double SHOOTER_PERCENT_INCREASE = 0.2; // Percent to increase per tick
+            public static final double SHOOTER_PERCENT_INCREASE = .5; // Percent to increase per tick
             public static final int SHOOTER_PERCENT_DECIMAL_PLACE = 1;
 
             public static final double SHOOTER_PERCENT_DEFAULT = 100.0;

src/main/java/frc/robot/RobotContainer.java

@@ -388,6 +388,26 @@ public void configureBindings() {
             shooterPercent.getHeldIntervalCommand(Constants.Operator.ErrorSettings.SHOOTER_PERCENT_INCREASE,
                 Constants.Operator.ErrorSettings.SETTINGS_DELAY_TIME));
 
+    // ==============================
+    // Turret / Hood Offset Reset (Left Stick Click / Right Stick Click)
+    // ==============================
+
+    // Left Stick Click : Reset turret offset to zero
+    new Trigger(() -> operatorController.getLeftStickButton())
+        .onTrue(new InstantCommand(() -> turretOffsetDegrees.set(0.0)));
+
+    // Right Stick Click : Reset hood offset to zero
+    new Trigger(() -> operatorController.getRightStickButton())
+        .onTrue(new InstantCommand(() -> hoodOffsetDegrees.set(0.0)));
+
+    // ==============================
+    // Shooter Percent Reset (Left Trigger / Right Trigger)
+    // ==============================
+
+    // Either Trigger : Reset shooter percent to default
+    new Trigger(() -> operatorController.getLeftTriggerAxis() > 0.5
+        || operatorController.getRightTriggerAxis() > 0.5)
+        .onTrue(new InstantCommand(() -> shooterPercent.set(Constants.Operator.ErrorSettings.SHOOTER_PERCENT_DEFAULT)));
     new Trigger(
         () -> operatorController.getAButton()).onTrue(
             new InstantCommand(() -> selectedFixedTarget = FixedTarget.A));

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

@@ -15,7 +15,6 @@
 import frc.robot.Configs;
 import frc.robot.Constants;
 
-// Test
 public class IntakePivotSubsystem extends SubsystemBase {
     public TalonFX intake;
     private final PositionVoltage angleRequest = new PositionVoltage(0);