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quipp wants to merge 13 commits into from
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Xlock to driver y #56

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4dd7154
Test commit
quipp Mar 28, 2026
5b661eb
Merge pull request #52 from Team537/dev
CameronMyhre Mar 28, 2026
cf991c6
fix: add 2s delay to auto to let shooter rev up and prevent jams
CameronMyhre Mar 28, 2026
82b1f60
feat(auto): deploy intake before shooting delay
CameronMyhre Mar 28, 2026
4900911
fix: flip depot and outpost autos when on red
CameronMyhre Mar 28, 2026
e7be189
Increase power offset rate. Add buttons to reset offsets.
quipp Mar 28, 2026
249cb68
Remove test comment
quipp Mar 28, 2026
cc4c034
Drop to 1 percent per tick for shooter percentage
quipp Mar 28, 2026
fc75215
Combine reset for both triggers into one command
quipp Mar 28, 2026
c7fa2ea
fix: correct 2 second delay issue
CameronMyhre Mar 28, 2026
6fba582
0.5 percent per 20 ms for shooter power
quipp Mar 28, 2026
c13a2dd
Merge pull request #54 from Team537/improve-operator-offset-controls
quipp Mar 28, 2026
e5e3e73
Move xlock to the driver y button
quipp Mar 29, 2026
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2 changes: 1 addition & 1 deletion src/main/java/frc/robot/Constants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
Expand Down
32 changes: 26 additions & 6 deletions src/main/java/frc/robot/RobotContainer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -283,8 +283,8 @@ public void configureBindings() {

Trigger reverseTransferTrigger = new Trigger(() -> driverController.getXButton());

// Driver X button: hold to lock robot pose (X-lock)
Trigger xLockTrigger = new Trigger(() -> operatorController.getXButton());
// Driver Y button: hold to lock robot pose (X-lock)
Trigger xLockTrigger = new Trigger(() -> driverController.getYButton());
xLockTrigger.whileTrue(driveSubsystem.getLockPoseCommand());

/* Shooter runs while button held */
Expand Down Expand Up @@ -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));
Expand Down Expand Up @@ -587,8 +607,8 @@ private Command getIntakeStrategyCommand() {
turretSubsystem,
transferSubsystem,
() -> FieldUtil.flipIfRed(Constants.Field.BLUE_HUB_TRANSLATION),
Constants.Operator.Auto.DEPOT_READY_INTAKE_POSE,
Constants.Operator.Auto.DEPOT_INTAKE_POSE,
FieldUtil.flipIfRed(Constants.Operator.Auto.DEPOT_READY_INTAKE_POSE),
FieldUtil.flipIfRed(Constants.Operator.Auto.DEPOT_INTAKE_POSE),
false,
Constants.Operator.Auto.AUTO_INTAKE_MAX_SPEED,
SmartDashboard.getNumber("Auto/IntakeShootTime", Constants.Operator.Auto.DEFAULT_INTAKE_SHOOT_TIME));
Expand All @@ -602,8 +622,8 @@ private Command getIntakeStrategyCommand() {
turretSubsystem,
transferSubsystem,
() -> FieldUtil.flipIfRed(Constants.Field.BLUE_HUB_TRANSLATION),
Constants.Operator.Auto.OUTPOST_READY_INTAKE_POSE,
Constants.Operator.Auto.OUTPOST_INTAKE_POSE,
FieldUtil.flipIfRed(Constants.Operator.Auto.OUTPOST_READY_INTAKE_POSE),
FieldUtil.flipIfRed(Constants.Operator.Auto.OUTPOST_INTAKE_POSE),
false,
Constants.Operator.Auto.AUTO_INTAKE_MAX_SPEED,
SmartDashboard.getNumber("Auto/IntakeShootTime", Constants.Operator.Auto.DEFAULT_INTAKE_SHOOT_TIME));
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21 changes: 13 additions & 8 deletions src/main/java/frc/robot/commands/ShootPreloadCommand.java
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Original file line number Diff line number Diff line change
Expand Up @@ -5,10 +5,10 @@
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Translation3d;
import edu.wpi.first.math.kinematics.ChassisSpeeds;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import frc.robot.Constants;
import edu.wpi.first.wpilibj2.command.WaitCommand;
import frc.robot.subsystems.IntakePivotSubsystem;
import frc.robot.subsystems.IntakeRollerSubsystem;
import frc.robot.subsystems.ShooterSubsystem;
Expand All @@ -32,12 +32,17 @@ public ShootPreloadCommand(
addCommands(

Commands.deadline(
Commands.waitSeconds(shootPreloadTime),
turret.getTargetCommand(targetSupplier, robotPoseSupplier, robotVelocitySupplier),
shooter.getTargetCommand(targetSupplier, robotPoseSupplier, robotVelocitySupplier),
transfer.getLoadCommand(),
intakePivot.deployIntakeCommand(),
intakeRoller.getIntakeCommand()
Commands.waitSeconds(shootPreloadTime + 2),
new SequentialCommandGroup(
Comment on lines +35 to +36
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Copilot AI Mar 29, 2026

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shootPreloadTime is now effectively treated as “time after the extra 2s delay” due to waitSeconds(shootPreloadTime + 2) plus a hard-coded WaitCommand(2). This changes behavior when shootPreloadTime is 0 (autonomous default): the command will still wait 2 seconds before continuing, and the parameter name no longer matches total runtime. If the intent is a fixed spin-up delay, consider making it a separate named constant/dashboard setting (or incorporate the delay into the shootPreloadTime value directly) to avoid surprising timing changes.

Copilot uses AI. Check for mistakes.
new ParallelCommandGroup(
turret.getTargetCommand(targetSupplier, robotPoseSupplier, robotVelocitySupplier),
shooter.getTargetCommand(targetSupplier, robotPoseSupplier, robotVelocitySupplier),
intakeRoller.getIntakeCommand(),
intakePivot.deployIntakeCommand()
),
new WaitCommand(2),
transfer.getLoadCommand()
)
),

Commands.parallel(
Expand Down
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