changed feeder speed based on action, commented camera streams

src/main/java/com/stuypulse/robot/commands/shooter/ShooterAcquireFromIntake.java

@@ -19,7 +19,7 @@ public ShooterAcquireFromIntake() {
     @Override
     public void initialize() {
         intake.acquire();
-        shooter.runFeederForwards();
+        shooter.feederIntake();
     }
 
     @Override

src/main/java/com/stuypulse/robot/commands/shooter/ShooterFeederAcquireForever.java → src/main/java/com/stuypulse/robot/commands/shooter/ShooterFeederAcquire.java

@@ -4,18 +4,18 @@
 
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 
-public class ShooterFeederAcquireForever extends InstantCommand {
+public class ShooterFeederAcquire extends InstantCommand {
 
     private final Shooter shooter;
 
-    public ShooterFeederAcquireForever() {
+    public ShooterFeederAcquire() {
         shooter = Shooter.getInstance();
         addRequirements(shooter);
     }
 
     @Override
     public void initialize() {
-        shooter.runFeederForwards();
+        shooter.feederIntake();
     }
 
 }

src/main/java/com/stuypulse/robot/commands/shooter/ShooterFeederDeacquire.java

@@ -0,0 +1,20 @@
+package com.stuypulse.robot.commands.shooter;
+
+import com.stuypulse.robot.subsystems.shooter.Shooter;
+
+import edu.wpi.first.wpilibj2.command.InstantCommand;
+
+public class ShooterFeederDeacquire extends InstantCommand {
+
+    private final Shooter shooter;
+
+    public ShooterFeederDeacquire() {
+        shooter = Shooter.getInstance();
+        addRequirements(shooter);
+    }
+
+    @Override
+    public void initialize() {
+        shooter.feederDeacquire();
+    }
+}

src/main/java/com/stuypulse/robot/commands/shooter/ShooterFeederShoot.java

@@ -0,0 +1,20 @@
+package com.stuypulse.robot.commands.shooter;
+
+import com.stuypulse.robot.subsystems.shooter.Shooter;
+
+import edu.wpi.first.wpilibj2.command.InstantCommand;
+
+public class ShooterFeederShoot extends InstantCommand {
+
+    private final Shooter shooter;
+
+    public ShooterFeederShoot() {
+        shooter = Shooter.getInstance();
+        addRequirements(shooter);
+    }
+
+    @Override
+    public void initialize() {
+        shooter.feederShoot();
+    }
+}

src/main/java/com/stuypulse/robot/commands/shooter/ShooterFerry.java

@@ -10,7 +10,7 @@ public ShooterFerry() {
         addCommands(
             new ShooterSetRPM(Settings.Shooter.FERRY),
             new ShooterWaitForTarget().withTimeout((Settings.Shooter.MAX_WAIT_TO_REACH_TARGET))
-                .andThen(new ShooterFeederAcquireForever())
+                .andThen(new ShooterFeederShoot())
         );
     }
 

src/main/java/com/stuypulse/robot/commands/shooter/ShooterScoreAmp.java

@@ -3,18 +3,17 @@
 import com.stuypulse.robot.subsystems.shooter.Shooter;
 
 import edu.wpi.first.wpilibj2.command.InstantCommand;
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
+import edu.wpi.first.wpilibj2.command.WaitUntilCommand;
 
-public class ShooterScoreAmp extends InstantCommand{
-
-    private final Shooter shooter;
+public class ShooterScoreAmp extends SequentialCommandGroup {
 
     public ShooterScoreAmp() {
-        shooter = Shooter.getInstance();
-        addRequirements(shooter);
-    }
-
-    @Override
-    public void initialize() {
-        shooter.runFeederBackwards();
+        addCommands(
+            new ShooterFeederDeacquire(),
+            new WaitUntilCommand(() -> !Shooter.getInstance().hasNote()),
+            new WaitUntilCommand(1),
+            new InstantCommand(() -> Shooter.getInstance().stopFeeder())
+        );
     }
-}
+}

src/main/java/com/stuypulse/robot/commands/shooter/ShooterScoreSpeaker.java

@@ -10,7 +10,7 @@ public ShooterScoreSpeaker() {
         addCommands(
             new ShooterSetRPM(Settings.Shooter.SPEAKER),
             new ShooterWaitForTarget().withTimeout(Settings.Shooter.MAX_WAIT_TO_REACH_TARGET)
-                .andThen(new ShooterFeederAcquireForever())
+                .andThen(new ShooterFeederShoot())
         );
     }
 }

src/main/java/com/stuypulse/robot/commands/swerve/SwerveDriveAlignedFerryAndShoot.java

@@ -42,7 +42,7 @@ private double getAngleTolerance() {
     public void execute() {
         super.execute();
         if (canShoot.get()) {
-            shooter.runFeederForwards();
+            shooter.feederShoot();
         }
     }
 

src/main/java/com/stuypulse/robot/commands/swerve/SwerveDriveAlignedSpeakerAndShoot.java

@@ -42,7 +42,7 @@ private double getAngleTolerance() {
     public void execute() {
         super.execute();
         if (canShoot.get()) {
-            shooter.runFeederForwards();
+            shooter.feederShoot();
         }
     }
 

src/main/java/com/stuypulse/robot/constants/Cameras.java

@@ -22,6 +22,11 @@ public interface Limelight {
         int[] PORTS = {5800, 5801, 5802, 5803, 5804, 5805};
     }
 
+    //192.168.1.83:5802
+    //192.168.1.71.5802
+
+    //192.168.1.ip.defaultport
+
     public CameraConfig[] APRILTAG_CAMERAS = new CameraConfig[] {
         // TO DO: find positions
         new CameraConfig(

src/main/java/com/stuypulse/robot/constants/Settings.java

@@ -61,12 +61,12 @@ public interface Arm {
 
         SmartNumber MAX_ANGLE = new SmartNumber("Arm/Max Angle (deg)", 100);
         SmartNumber MIN_ANGLE = new SmartNumber("Arm/Min Angle (deg)", -90 + 12.25);
-        SmartNumber MAX_ANGLE_ERROR = new SmartNumber("Arm/Max Angle Error", 1);
+        SmartNumber MAX_ANGLE_ERROR = new SmartNumber("Arm/Max Angle Error", 2);
 
         SmartNumber AMP_ANGLE = new SmartNumber("Arm/Amp Angle", 70);
         SmartNumber FERRY_ANGLE = new SmartNumber("Arm/Lob Ferry Angle", -60);
         SmartNumber PRE_CLIMB_ANGLE = new SmartNumber("Arm/Pre climb angle", 80);
-        SmartNumber FEED_ANGLE = new SmartNumber("Arm/Feed Angle", MIN_ANGLE.getAsDouble() + 0);
+        SmartNumber FEED_ANGLE = new SmartNumber("Arm/Feed Angle", MIN_ANGLE.getAsDouble() + 17); //0
         SmartNumber PODIUM_SHOT_ANGLE = new SmartNumber("Arm/Podium Shot Angle", -60);
 
         SmartNumber BUMP_SWITCH_DEBOUNCE_TIME = new SmartNumber("Arm/Bump Switch Debounce Time", 0.02);
@@ -94,15 +94,17 @@ public interface Encoder {
     }
 
     public interface Intake {
-        double INTAKE_ACQUIRE_SPEED = 0.82;
+        double INTAKE_ACQUIRE_SPEED = 0.75;
         double INTAKE_DEACQUIRE_SPEED = 1.0;
         double FUNNEL_ACQUIRE = 1.0;
         double FUNNEL_DEACQUIRE = 1.0;
         double IR_DEBOUNCE = .005;
     }
 
     public interface Shooter {
-        double FEEDER_SPEED = 0.23;
+        double FEEDER_INTAKE_SPEED = 0.24;
+        double FEEDER_DEAQUIRE_SPEED = 0.5;
+        double FEEDER_SHOOT_SPEED = 1.0;
 
         double TARGET_RPM_THRESHOLD = 300;
         double MAX_WAIT_TO_REACH_TARGET = 2;

src/main/java/com/stuypulse/robot/subsystems/shooter/Shooter.java

@@ -40,16 +40,17 @@ public double getRightTargetRPM() {
     }
 
     public void stop() {
-        stopFeeder();
+        feederStop();
         leftTargetRPM.set(0);
         rightTargetRPM.set(0);
     }
 
     public abstract boolean atTargetSpeeds();
 
-    public abstract void runFeederForwards();
-    public abstract void runFeederBackwards();
-    public abstract void stopFeeder();
+    public abstract void feederIntake();
+    public abstract void feederDeacquire();
+    public abstract void feederShoot();
+    public abstract void feederStop();
 
     public abstract boolean hasNote();
 

src/main/java/com/stuypulse/robot/subsystems/shooter/ShooterImpl.java

@@ -93,17 +93,22 @@ private void setRightShooterRPM(double rpm) {
     }
 
     @Override
-    public void runFeederForwards() {
-        feederMotor.set(+Settings.Shooter.FEEDER_SPEED);
+    public void feederIntake() {
+        feederMotor.set(+Settings.Shooter.FEEDER_INTAKE_SPEED);
     }
 
     @Override
-    public void runFeederBackwards() {
-        feederMotor.set(-Settings.Shooter.FEEDER_SPEED);
+    public void feederDeacquire() {
+        feederMotor.set(-Settings.Shooter.FEEDER_DEAQUIRE_SPEED);
     }
 
     @Override
-    public void stopFeeder() {
+    public void feederShoot() {
+        feederMotor.set(Settings.Shooter.FEEDER_SHOOT_SPEED);
+    }
+
+    @Override
+    public void feederStop() {
         feederMotor.stopMotor();
     }