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Merge branch 'Shooter' of https://github.com/Team4388/2022NoWayHome into Shooter

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aarav18
2022-01-28 17:12:45 -07:00
parent 4e497acab6 d2694e2b61
commit 1c18cd96cc
1 changed files with 13 additions and 0 deletions
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src/main/java/frc4388/robot/subsystems/BoomBoom.java
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@@ -13,11 +13,14 @@ import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import edu.wpi.first.wpilibj.smartdashboard.*; import edu.wpi.first.wpilibj.smartdashboard.*;
import edu.wpi.first.math.controller.BangBangController; import edu.wpi.first.math.controller.BangBangController;
import edu.wpi.first.math.controller.SimpleMotorFeedforward;
import edu.wpi.first.wpilibj2.command.SubsystemBase; import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants.ShooterConstants; import frc4388.robot.Constants.ShooterConstants;
import frc4388.utility.ShooterTables; import frc4388.utility.ShooterTables;
import frc4388.utility.Gains; import frc4388.utility.Gains;
import frc4388.utility.controller.IHandController; import frc4388.utility.controller.IHandController;
import com.revrobotics.RelativeEncoder;
import com.revrobotics.*;
public class BoomBoom extends SubsystemBase { public class BoomBoom extends SubsystemBase {
public WPI_TalonFX m_shooterFalconLeft = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_BALLER_ID); public WPI_TalonFX m_shooterFalconLeft = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_BALLER_ID);
@@ -37,6 +40,12 @@ public double m_fireVel;
public Hood m_hoodSubsystem; public Hood m_hoodSubsystem;
public Turret m_turretSubsystem; public Turret m_turretSubsystem;
SimpleMotorFeedforward feedforward = new SimpleMotorFeedforward(69, 42, 0); //get real values later
/* /*
* Creates new BoomBoom subsystem, has drum shooter and angle adjuster * Creates new BoomBoom subsystem, has drum shooter and angle adjuster
*/ */
@@ -44,6 +53,9 @@ public BoomBoom(){
//Testing purposes resetting gyros //Testing purposes resetting gyros
//resetGryoAngleADj(); //resetGryoAngleADj();
//shooterTrims = new Trims(0,0); //shooterTrims = new Trims(0,0);
feedforward.calculate(15, 20); // feedforward.calculate(velocity, acceleration);
} }
/** Creates a new BoomBoom. */ /** Creates a new BoomBoom. */
public BoomBoom(WPI_TalonFX shooterFalconLeft, WPI_TalonFX shooterFalconRight) { public BoomBoom(WPI_TalonFX shooterFalconLeft, WPI_TalonFX shooterFalconRight) {
@@ -62,6 +74,7 @@ public BoomBoom(){
m_shooterFalconLeft.configClosedLoopPeriod(0, closedLoopTimeMs, ShooterConstants.SHOOTER_TIMEOUT_MS); m_shooterFalconLeft.configClosedLoopPeriod(0, closedLoopTimeMs, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalconLeft.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG, ShooterConstants.SHOOTER_TIMEOUT_MS); m_shooterFalconLeft.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG, ShooterConstants.SHOOTER_TIMEOUT_MS);
//RIGHT FALCON //RIGHT FALCON
m_shooterFalconRight.configFactoryDefault(); m_shooterFalconRight.configFactoryDefault();
m_shooterFalconRight.setNeutralMode(NeutralMode.Coast); m_shooterFalconRight.setNeutralMode(NeutralMode.Coast);