Team4388/2022NoWayHome
1
0
Fork 0
mirror of https://github.com/Team4388/2022NoWayHome.git synced 2026-06-09 08:48:07 -06:00
Code Issues Packages Projects Releases Wiki Activity

shooter tables duration

Browse Source
This commit is contained in:
aarav18
2022-03-12 14:54:42 -07:00
parent 06ccba971e
commit 35662f72f9
2 changed files with 29 additions and 12 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/subsystems/BoomBoom.java
+28 -11
View File
@@ -47,14 +47,12 @@ public class BoomBoom extends SubsystemBase {
// SimpleMotorFeedforward feedforward = new SimpleMotorFeedforward(69, 42, 0); //get real values later
public static class ShooterTableEntry {
public Double distance, hoodExt, drumVelocity;
public Double distance, hoodExt, drumVelocity, duration;
}
private ShooterTableEntry[] m_shooterTable;
/*
* Creates new BoomBoom subsystem, has drum shooter and angle adjuster
*/
/** Creates a new BoomBoom. */
/** Creates a new BoomBoom, which has a drum shooter and angle adjuster. */
public BoomBoom(WPI_TalonFX shooterFalconLeft, WPI_TalonFX shooterFalconRight) {
m_shooterFalconLeft = shooterFalconLeft;
m_shooterFalconRight = shooterFalconRight;
@@ -94,20 +92,39 @@ public class BoomBoom extends SubsystemBase {
}
}
/**
* This is a function that takes a value (distance) and returns a value (drumVelocity) that is a
* linear interpolation of the two values (drumVelocity) at the two closest points in the table
* (m_shooterTable) to the given value (distance).
* @param distance Distance in shooter table
* @return Drum Velocity in units per 100 ms
*/
public Double getVelocity(final Double distance) {
// This is a function that takes a value (distance) and returns a value (drumVelocity) that is a
// linear interpolation of the two values (drumVelocity) at the two closest points in the table
// (m_shooterTable) to the given value (distance).
return linearInterpolate(m_shooterTable, distance, e -> e.distance, e -> e.drumVelocity).doubleValue();
}
/**
* This is a function that takes a value (distance) and returns a value (hoodExt) that is a linear
* interpolation of the two values (hoodExt) at the two closest points in the table (m_shooterTable)
* to the given value (distance).
* @param distance Distance in shooter table
* @return Hood extension in units
*/
public Double getHood(final Double distance) {
// This is a function that takes a value (distance) and returns a value (hoodExt) that is a linear
// interpolation of the two values (hoodExt) at the two closest points in the table (m_shooterTable)
// to the given value (distance).
return linearInterpolate(m_shooterTable, distance, e -> e.distance, e -> e.hoodExt).doubleValue();
}
/**
* This is a function that takes a value (distance) and returns a value (duration) that is a linear
* interpolation of the two values (duration) at the two closest points in the table (m_shooterTable)
* to the given value (distance).
* @param distance Distance in shooter table
* @return Shot duration in seconds
*/
public Double getDuration(final Double distance) {
return linearInterpolate(m_shooterTable, distance, e -> e.distance, e -> e.duration).doubleValue();
}
/**
* Using the given lookup value (x) and lookup getter function, locates the nearest entries in the
* given table to be used as the lower (x0) and upper (x1) bounds for interpolation. Returns the