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Abhishrek05
2022-02-17 19:54:24 -07:00
parent 0fedb240d7
commit ed8cf1443c
5 changed files with 64 additions and 44 deletions
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src/main/java/frc4388/robot/subsystems/BoomBoom.java
+12 -21
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@@ -11,6 +11,7 @@ import com.ctre.phoenix.motorcontrol.NeutralMode;
import com.ctre.phoenix.motorcontrol.TalonFXControlMode;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import edu.wpi.first.wpilibj.simulation.JoystickSim;
import edu.wpi.first.wpilibj.smartdashboard.*;
import edu.wpi.first.math.controller.BangBangController;
import edu.wpi.first.math.controller.SimpleMotorFeedforward;
@@ -28,7 +29,7 @@ public ShooterTables m_shooterTable;
public static Gains m_drumShooterGains = ShooterConstants.DRUM_SHOOTER_GAINS;
public static BoomBoom m_boomBoom;
public static IHandController m_driverController; //not sure if driverController in 2022 = m_controller in 2020
BangBangController m_controller = new BangBangController();
// BangBangController m_controller = new BangBangController();
double velP;
double input;
@@ -39,33 +40,19 @@ public double m_fireVel;
public Hood m_hoodSubsystem;
public Turret m_turretSubsystem;
SimpleMotorFeedforward feedforward = new SimpleMotorFeedforward(69, 42, 0); //get real values later
// SimpleMotorFeedforward feedforward = new SimpleMotorFeedforward(69, 42, 0); //get real values later
/*
* Creates new BoomBoom subsystem, has drum shooter and angle adjuster
*/
public BoomBoom(){
//Testing purposes resetting gyros
//resetGryoAngleADj();
//shooterTrims = new Trims(0,0);
feedforward.calculate(15, 20); // feedforward.calculate(velocity, acceleration);
}
/** Creates a new BoomBoom. */
public BoomBoom(WPI_TalonFX shooterFalconLeft, WPI_TalonFX shooterFalconRight) {
public BoomBoom(WPI_TalonFX shooterFalconLeft, WPI_TalonFX shooterFalconRight) {
m_shooterFalconLeft = shooterFalconLeft;
m_shooterFalconRight = shooterFalconRight;
m_shooterTable = new ShooterTables();
}
m_shooterTable = new ShooterTables();
}
@Override
@@ -92,7 +79,10 @@ try {
m_hoodSubsystem = subsystem0;
m_turretSubsystem = subsystem1;
}
/**
* Runs the Drum motor at a given speed
* @param speed percent output form -1.0 to 1.0
*/
public void runDrumShooter(double speed) {
m_shooterFalconLeft.set(TalonFXControlMode.PercentOutput, speed);
@@ -114,7 +104,8 @@ public void setShooterGains() {
//Controls a motor with the output of the BangBang conroller and a feedforward
//Shrinks the feedforward slightly to avoid over speeding the shooter
// m_shooterFalconLeft.set(controller.calculate(encoder.getRate(), targetVel) + 0.9 * feedforward.calculate(targetVel));
m_shooterFalconLeft.set(m_controller.calculate(m_shooterFalconLeft.get(), targetVel));
// m_shooterFalconLeft.set(m_controller.calculate(m_shooterFalconLeft.get(), targetVel));
}
}