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Merge branch 'shooter-test' into AutoAlign

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This commit is contained in:
Abhishrek05
2024-02-20 19:42:53 -07:00
parent e77d2d5a6c 3ec5525d5a
commit 0f71e0ec08
24 changed files with 969 additions and 198 deletions
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src/main/java/frc4388/robot/subsystems/Shooter.java
+27 -20
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@@ -5,8 +5,10 @@
package frc4388.robot.subsystems;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.motorcontrol.Talon;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants.IntakeConstants;
import frc4388.robot.Constants.ShooterConstants;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
@@ -20,15 +22,6 @@ public class Shooter extends SubsystemBase {
private TalonFX leftShooter;
private TalonFX rightShooter;
private Limelight limelight;
// 0 = Stop
// 1 = Idle, no limelight
// 2 = limelight
// 3 = Shooting
private int shooterMode;
/** Creates a new Shooter. */
public Shooter(TalonFX leftTalonFX, TalonFX rightTalonFX, Limelight limelight) {
leftShooter = leftTalonFX;
@@ -38,16 +31,35 @@ public class Shooter extends SubsystemBase {
leftShooter.setNeutralMode(NeutralModeValue.Coast);
rightShooter.setNeutralMode(NeutralModeValue.Coast);
SmartDashboard.putNumber("Shooter Speed", ShooterConstants.SHOOTER_SPEED);
}
public Shooter(TalonFX leftShooter) {
this.leftShooter = leftShooter;
leftShooter.setNeutralMode(NeutralModeValue.Coast);
}
public void singleSpin() {
leftShooter.set(1.0);
}
public void singleSpin(double speed) {
leftShooter.set(speed);
}
public void spin() {
shooterMode = 3;
spin(ShooterConstants.SHOOTER_SPEED);
spin(smartDashboardShooterSpeed);
}
public void spin(double speed) {
leftShooter.set(-speed);
rightShooter.set(speed);
rightShooter.set(-speed);
}
public void spin(double leftSpeed, double rightSpeed) {
leftShooter.set(leftSpeed);
rightShooter.set(-rightSpeed);
}
public void stop() {
@@ -68,15 +80,10 @@ public class Shooter extends SubsystemBase {
@Override
public void periodic() {
// This method will be called once per scheduler run
// SmartDashboard.putNumber("Left Shooter RPM", leftShooter.getRotorVelocity().getValue());
//SmartDashboard.putNumber("Right Shooter RPM", rightShooter.getRotorVelocity().getValue());
smartDashboardShooterSpeed = SmartDashboard.getNumber("Shooter Speed", ShooterConstants.SHOOTER_SPEED);
if(limelight.isNearSpeaker() && shooterMode == 0){
shooterMode = 1;
spin(ShooterConstants.SHOOTER_IDLE_LIMELIGHT);
}
SmartDashboard.putNumber("Shooter Speed mode", shooterMode);
SmartDashboard.putNumber("Left Shooter RPM", leftShooter.getRotorVelocity().getValue());
SmartDashboard.putNumber("Right Shooter RPM", rightShooter.getRotorVelocity().getValue());
}
}