Team4388/2026KPopRobotHunters
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This commit is contained in:
Shikhar
2026-02-23 17:33:25 -07:00
parent ff0cff819c
commit 168b6f9643
8 changed files with 70 additions and 133 deletions
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src/main/java/frc4388/robot/subsystems/shooter/Shooter.java
+24 -10
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@@ -126,8 +126,11 @@ public class Shooter extends SubsystemBase {
boolean badShooterVelocity = Math.abs(shooterSpeed - shooterSpeedTarget) > ShooterConstants.SHOOTER_SPEED_TOLERANCE.get();
// boolean intakeBad = m_Intake.getMode() == IntxakeMode.Extended;
boolean feedMdoe = this.mode == ShooterMode.ReadyFeeder |
this.mode == ShooterMode.ShootingFeeder;
int bitmask = (driverError ? 1 : 0) + (badShooterVelocity ? 2 : 0) + (this.mode == ShooterMode.ReadyFeeder ? 4 : 0);
int bitmask = (driverError ? 1 : 0) + (badShooterVelocity ? 2 : 0) + (
(feedMdoe) ? 4 : 0);
switch (bitmask) {
case 0b000: // No Errors
m_robotLED.setMode(Constants.LEDConstants.OPREADY);
@@ -147,19 +150,30 @@ public class Shooter extends SubsystemBase {
break;
case 0b100:
m_robotLED.setMode(Constants.LEDConstants.OPREADY_FEED);
break;
case 0b101:
m_robotLED.setMode(Constants.LEDConstants.OPREADY_FEED_BADPHYS);
m_robotLED.setMode(Constants.LEDConstants.OPREADY_FEED);
break;
}
// // We set the shooter mode to ready if there are no errors
mode = (
bitmask == 0 ?
ShooterMode.Shooting :
ShooterMode.Ready
);
if (!feedMdoe) {
mode = (
bitmask == 0 ?
ShooterMode.Shooting :
ShooterMode.Ready
);
} else {
if(bitmask == 0b100 |
bitmask == 0b101) {
mode = ShooterMode.ShootingFeeder;
} else {
mode = ShooterMode.ReadyFeeder;
}
}
} else {
m_robotLED.setMode(Constants.LEDConstants.DEFAULT_PATTERN);
@@ -196,7 +210,7 @@ public class Shooter extends SubsystemBase {
break;
case ReadyFeeder:
io.setShooterVelocity(state, ShooterConstants.getTargetShooterSpeed(distanceToHub));
io.setShooterVelocity(state, RotationsPerSecond.of(ShooterConstants.SHOOTER_FEED_VELOCITY.get()));
io.setIndexerOutput(state, ShooterConstants.INDEXER_REVERSE_OUTPUT.get());
break;