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shooter fixes

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This commit is contained in:
Ryan Manley
2022-04-08 14:40:16 -06:00
parent 820a93cad2
commit 991701e04f
3 changed files with 8 additions and 8 deletions
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src/main/deploy/ShooterData.csv
+3 -2
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@@ -2,8 +2,9 @@ Distance (in) ,Hood Ext. (u) ,Drum Velocity (u/ds)
0 ,-29.5 ,8000 0 ,-29.5 ,8000
78.5 ,-29.5 ,8500 78.5 ,-29.5 ,8500
88 ,-34.2 ,8600 88 ,-34.2 ,8600
90 ,-35.47 ,9500 90 ,-36.47 ,9000
99 ,-39.62 ,9500 92.2 ,-50 ,8500
99 ,-41 ,9500
111 ,-42 ,9500 111 ,-42 ,9500
127.25 ,-49.12 ,9500 127.25 ,-49.12 ,9500
141 ,-59.4 ,9900 141 ,-59.4 ,9900
1 Distance (in) Hood Ext. (u) Drum Velocity (u/ds)
2 0 -29.5 8000
3 78.5 -29.5 8500
4 88 -34.2 8600
5 90 -35.47 -36.47 9500 9000
6 99 92.2 -39.62 -50 9500 8500
7 99 -41 9500
8 111 -42 9500
9 127.25 -49.12 9500
10 141 -59.4 9900
src/main/java/frc4388/robot/RobotContainer.java
+1 -1
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@@ -496,7 +496,7 @@ public class RobotContainer {
SequentialCommandGroup extendThenAimTurret() { SequentialCommandGroup extendThenAimTurret() {
return new SequentialCommandGroup( return new SequentialCommandGroup(
new ExtenderIntakeGroup(m_robotIntake, m_robotExtender), new ExtenderIntakeGroup(m_robotIntake, m_robotExtender),
new RunCommandForTime(new RunCommand(() -> m_robotTurret.runShooterRotatePID(-180), m_robotTurret), 0.5, true) // TODO: optimize time new RunCommandForTime(new RunCommand(() -> m_robotTurret.runShooterRotatePID(-175), m_robotTurret), 0.5, true) // TODO: optimize time
); );
} }
src/main/java/frc4388/robot/commands/ShooterCommands/TrackTarget.java
+4 -5
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@@ -118,19 +118,18 @@ public class TrackTarget extends CommandBase {
// true); // true);
double regressedDistance = getDistance(average.y); double regressedDistance = getDistance(average.y);
double distAdj = SmartDashboard.getNumber("Distance Adjust", -35);
// ! offset trig solution // ! offset trig solution
double desiredOffset = 10; // * inches double desiredOffset = 2; // * inches
double angleOffset = Math.toDegrees(Math.atan(desiredOffset / regressedDistance)); // * degrees double angleOffset = Math.toDegrees(Math.atan(desiredOffset / (regressedDistance + distAdj))); // * degrees
double pixelOffset = angleOffset * VisionConstants.PIXELS_PER_DEGREE; double pixelOffset = angleOffset * VisionConstants.PIXELS_PER_DEGREE;
double output = ((average.x + 40) - VisionConstants.LIME_HIXELS/2.d) / VisionConstants.LIME_HIXELS; double output = ((average.x - pixelOffset) - VisionConstants.LIME_HIXELS/2.d) / VisionConstants.LIME_HIXELS;
output *= 2.1; output *= 2.1;
m_turret.runTurretWithInput(output); m_turret.runTurretWithInput(output);
// ! no longer a +30 lol -aarav // ! no longer a +30 lol -aarav
double distAdj = SmartDashboard.getNumber("Distance Adjust", -35);
velocity = m_boomBoom.getVelocity(regressedDistance + distAdj); velocity = m_boomBoom.getVelocity(regressedDistance + distAdj);
hoodPosition = m_boomBoom.getHood(regressedDistance + distAdj); hoodPosition = m_boomBoom.getHood(regressedDistance + distAdj);