remove redundant logs and do a small refactor to the noteToTrap logic…

… by running the intake just a touch
Patribots4738 · Mar 23, 2024 · fe2c93a · fe2c93a
1 parent bb20892
commit fe2c93a
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Showing 7 changed files with 29 additions and 6 deletions.
diff --git a/src/main/java/frc/robot/commands/drive/AlignmentCmds.java b/src/main/java/frc/robot/commands/drive/AlignmentCmds.java
@@ -16,13 +16,17 @@
 import frc.robot.subsystems.Swerve;
 import frc.robot.util.Constants.FieldConstants;
 import frc.robot.util.calc.AlignmentCalc;
+import monologue.Annotations.IgnoreLogged;
 
 public class AlignmentCmds {
 
+    @IgnoreLogged
     private Climb climb;
+    @IgnoreLogged
     private Swerve swerve;
-    private ShooterCmds shooterCmds;
 
+    private ShooterCmds shooterCmds;
+    @IgnoreLogged
     public AlignmentCalc alignmentCalc;
 
     public AlignmentCmds(Swerve swerve, Climb climb, ShooterCmds shooterCmds) {

diff --git a/src/main/java/frc/robot/commands/managers/PieceControl.java b/src/main/java/frc/robot/commands/managers/PieceControl.java
@@ -26,17 +26,24 @@
 import frc.robot.util.Constants.ShooterConstants;
 import frc.robot.util.Constants.ElevatorConstants;
 import frc.robot.util.custom.ActiveConditionalCommand;
+import monologue.Annotations.IgnoreLogged;
 import monologue.Annotations.Log;
 import monologue.Logged;
 
 public class PieceControl implements Logged {
-
+
+    @IgnoreLogged
     private Intake intake;
+    @IgnoreLogged
     private Indexer indexer;
-
+
+    @IgnoreLogged
     private Elevator elevator;
+    @IgnoreLogged
     private Ampper ampper;
+    @IgnoreLogged
     private ShooterCmds shooterCmds;
+
 
     private ColorSensor colorSensor;
 
@@ -191,6 +198,7 @@ public Command noteToTrap() {
             ampper.outtake(),
             shooterCmds.stowPivot(),
             indexer.toElevator(),   
+            intake.inCommandSlow(),
             Commands.waitUntil(() -> !colorSensor.hasNote()),
             NT.getWaitCommand("noteToTrap1"), // 0.2
             stopIntakeAndIndexer(),

diff --git a/src/main/java/frc/robot/commands/managers/ShooterCmds.java b/src/main/java/frc/robot/commands/managers/ShooterCmds.java
@@ -17,10 +17,13 @@
 import frc.robot.util.Constants.ShooterConstants;
 import frc.robot.util.calc.ShooterCalc;
 import frc.robot.util.custom.SpeedAngleTriplet;
+import monologue.Annotations.IgnoreLogged;
 
 public class ShooterCmds {
-
+
+    @IgnoreLogged
     private Pivot pivot;
+    @IgnoreLogged
     private Shooter shooter;
 
     private SpeedAngleTriplet desiredTriplet = new SpeedAngleTriplet();

diff --git a/src/main/java/frc/robot/subsystems/Intake.java b/src/main/java/frc/robot/subsystems/Intake.java
@@ -49,6 +49,10 @@ public Command inCommand() {
         return setPercentCommand(IntakeConstants.INTAKE_PERCENT);
     }
 
+    public Command inCommandSlow() {
+        return setPercentCommand(IntakeConstants.INTAKE_PERCENT/3.0);
+    }
+
     public Command outCommand() {
         return setPercentCommand(IntakeConstants.OUTTAKE_PERCENT);
     }

diff --git a/src/main/java/frc/robot/util/Constants.java b/src/main/java/frc/robot/util/Constants.java
@@ -1103,7 +1103,7 @@ public static final class NTConstants {
             put("noteToIndexer2", 0.07);
             put("noteToIndexer3", 0.0);
 
-            put("noteToTrap1", 0.2);
+            put("noteToTrap1", 0.1);
             put("noteToTrap2", 0.5);
             put("noteToTrap3", 0.0);
 

diff --git a/src/main/java/frc/robot/util/calc/AlignmentCalc.java b/src/main/java/frc/robot/util/calc/AlignmentCalc.java
@@ -15,9 +15,11 @@
 import frc.robot.util.Constants.AutoConstants;
 import frc.robot.util.Constants.DriveConstants;
 import frc.robot.util.Constants.FieldConstants;
+import monologue.Annotations.IgnoreLogged;
 
 public class AlignmentCalc {
 
+    @IgnoreLogged
     private Swerve swerve;
 
     public AlignmentCalc(Swerve swerve) {

diff --git a/src/main/java/frc/robot/util/calc/ShooterCalc.java b/src/main/java/frc/robot/util/calc/ShooterCalc.java
@@ -18,14 +18,16 @@
 import frc.robot.util.Constants.ShooterConstants;
 import frc.robot.util.custom.SpeedAngleTriplet;
 import monologue.Logged;
+import monologue.Annotations.IgnoreLogged;
 import monologue.Annotations.Log;
 
 public class ShooterCalc implements Logged {
 
+    @IgnoreLogged
     private Shooter shooter;
+    @IgnoreLogged
     private Pivot pivot;
 
-
     public ShooterCalc(Shooter shooter, Pivot pivot) {
         this.shooter = shooter;
         this.pivot = pivot;