Merge branch 'AutoDev' of https://github.com/FRC1257/2024-Robot into AutoDev

Author: AkeBoss-tech

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

@@ -530,7 +530,7 @@ public Command shootNote() {
     .alongWith(shooter.runVoltage(ShooterConstants.SHOOTER_UNJAM_VOLTAGE))).withTimeout(0.1).andThen(shooter.runVoltageBoth(rightShooterVolts::get, leftShooterVolts::get) // run shooter full speed
         .alongWith(
             new SequentialCommandGroup(
-              indexer.manualCommand(IndexerConstants.INDEXER_OUT_VOLTAGE / 100).withTimeout(1), // run intake back for 0.1 seconds
+              indexer.manualCommand(IndexerConstants.INDEXER_OUT_VOLTAGE / 100).withTimeout(1.2), // run intake back for 0.1 seconds
               /*new WaitCommand(0.8).andThen */(indexer.manualCommand(IndexerConstants.INDEXER_IN_VOLTAGE)) // run intake in to shoot
             ))
         .withTimeout(1.9));//.alongWith(new InstantCommand(() -> {NoteVisualizer.shoot().schedule();})); // run the visualizer

src/main/java/frc/robot/subsystems/vision/VisionIO.java

@@ -35,6 +35,7 @@ public static class VisionIOInputs {
     public double[] timestampArray = new double[0];
     public Pose2d[] targets = new Pose2d[0];
     public Pose3d[] targets3d = new Pose3d[0];
+    //public PhotonPipelineResult[] results = new PhotonPipelineResult[0];
 
     public boolean hasEstimate = false;
 
@@ -101,6 +102,7 @@ public default Optional<Pose2d>[] getEstimates(PhotonPipelineResult[] results,
     return estimatesArray;
   }
 
+ 
   public default Pose2d[] getEstimatesArray(PhotonPipelineResult[] results, PhotonPoseEstimator[] photonEstimator) {
     Optional<Pose2d>[] estimates = getEstimates(results, photonEstimator);
     Pose2d[] estimatesArray = new Pose2d[estimates.length];

src/main/java/frc/robot/subsystems/vision/VisionIOPhoton.java

@@ -67,6 +67,7 @@ public void updateInputs(VisionIOInputs inputs, Pose2d currentEstimate) {
         inputs.timestamp = estimateLatestTimestamp(results);
 
         if (hasEstimate(results)) {
+            //inputs.results = results;
             inputs.estimate = getEstimatesArray(results, photonEstimators);
             inputs.targets3d = getTargetsPositions(results);
             inputs.targets = Pose3dToPose2d(inputs.targets3d);

src/main/java/frc/robot/util/drive/DriveControls.java

@@ -122,15 +122,15 @@ public static void configureControls() {
                 PIVOT_AMP = operator.getB();
                 PIVOT_ZERO = operator.getA();
                 PIVOT_TO_SPEAKER = operator.getX();
-                PIVOT_PODIUM = EMPTY_TRIGGER;
-                PIVOT_ANYWHERE = operator.getY(); // uses vision
-                PIVOT_HOLD = operator.rightTrigger();
+                PIVOT_PODIUM = operator.getDPad(DPad.UP);
+                PIVOT_ANYWHERE = operator.start(); // uses vision
+                PIVOT_HOLD = operator.getY();
 
                 // intaking things
                 INTAKE_ROTATE = () -> operator.getLeftYD();
                 INTAKE_IN = operator.rightBumper();
                 INTAKE_OUT = operator.leftBumper();
-                INTAKE_UNTIL_INTAKED = operator.getDPad(DPad.UP);
+                INTAKE_UNTIL_INTAKED = EMPTY_TRIGGER;
 
                 // ground intake things
                 GROUND_INTAKE_ROTATE = () -> -2*operator.getLeftXD();