Remaining Comp Changes

Author: sophiep29

src/main/java/frc/robot/Robot.java

@@ -55,6 +55,10 @@ public void robotPeriodic() {
     SmartDashboard.putString("Hopper State", Hopper.hopperState);
     SmartDashboard.putString("Intake State", Intake.intakeState);
     SmartDashboard.putString("Kicker State", KickerCommand.kickerState);
+    SmartDashboard.putBoolean(
+        "Flywheel On",
+        !(FlywheelCommand.flywheelState.equals("none")
+            || FlywheelCommand.flywheelState.equals("Stopped")));
     try {
       var pose = drivetrain.getState().Pose;
       SmartDashboard.putNumber("OdometryX", pose.getX());

src/main/java/frc/robot/config/TunerConstants.java

@@ -55,7 +55,7 @@ public class TunerConstants {
 
   // The stator current at which the wheels start to slip;
   // This needs to be tuned to your individual robot
-  private static final Current kSlipCurrent = Amps.of(60); // from 120
+  private static final Current kSlipCurrent = Amps.of(120); // from 120
 
   // Initial configs for the drive and steer motors and the azimuth encoder; these cannot be null.
   // Some configs will be overwritten; check the `with*InitialConfigs()` API documentation.

src/main/java/frc/robot/helpers/ShotCalculator.java

@@ -18,10 +18,8 @@ public static double calculateFlywheelShot(Translation2d robotPosition) {
     double distanceToGoal = calculateHubPosition().getDistance(robotPosition);
     // 2. Retrieve correlating RPS from map based off of distance
     if (distanceToGoal > Units.inchesToMeters(87) || distanceToGoal < Units.inchesToMeters(43)) {
-      System.out.println(getRPM(distanceToGoal));
       return getRPM(distanceToGoal);
     }
-    System.out.println(DISTANCE_TO_FLYWHEEL.get(distanceToGoal));
     return DISTANCE_TO_FLYWHEEL.get(distanceToGoal);
   }