Team4388/2026KPopRobotHunters
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instant commands for testing

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This commit is contained in:
Shikhar
2026-02-07 14:51:05 -07:00
parent f39bd20b9f
commit 2d9ed527be
6 changed files with 61 additions and 41 deletions
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src/main/java/frc4388/robot/subsystems/shooter/Shooter.java
+6 -6
View File
@@ -14,15 +14,15 @@ public class Shooter extends SubsystemBase {
ShooterIO io;
ShooterStateAutoLogged state = new ShooterStateAutoLogged();
Supplier<Pose2d> m_swervePoseSupplier;
// Supplier<Pose2d> m_swervePoseSupplier;
public Shooter(
ShooterIO io,
Supplier<Pose2d> swervePoseSupplier
ShooterIO io
// Supplier<Pose2d> swervePoseSupplier
) {
this.io = io;
this.m_swervePoseSupplier = swervePoseSupplier;
// this.m_swervePoseSupplier = swervePoseSupplier;
}
public enum FieldZone {
@@ -80,8 +80,8 @@ public class Shooter extends SubsystemBase {
Logger.processInputs("Shooter", state);
Pose2d pose = m_swervePoseSupplier.get();
Angle robotRot = pose.getRotation().getMeasure();
// Pose2d pose = m_swervePoseSupplier.get();
// Angle robotRot = pose.getRotation().getMeasure();
io.updateInputs(state);
src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java
+4 -2
View File
@@ -22,9 +22,10 @@ public class ShooterConstants {
public static final double INDEXER_GEAR_RATIO = 1.;
public static final AngularVelocity SHOOTER_RESTING_VELOCITY = RotationsPerSecond.of(0.0);
public static final AngularVelocity SHOOTER_ACTIVE_VELOCITY = RotationsPerSecond.of(0.0);
public static final AngularVelocity SHOOTER_ACTIVE_VELOCITY = RotationsPerSecond.of(4.0);
public static final AngularVelocity SHOOTER_INACTIVE_VELOCITY = RotationsPerSecond.of(0.0);
public static final AngularVelocity INDEXER_ACTIVE_VELOCITY = RotationsPerSecond.of(0.0);
public static final AngularVelocity INDEXER_ACTIVE_VELOCITY = RotationsPerSecond.of(4.0);
public static final AngularVelocity INDEXER_INACTIVE_VELOCITY = RotationsPerSecond.of(0.0);
@@ -59,6 +60,7 @@ public class ShooterConstants {
// .withDutyCycleNeutralDeadband(0.04) // TODO: Figure out what this means
// );
public static final CanDevice SHOOTER1_ID = new CanDevice("SHOOTER 1", 22);
public static final CanDevice SHOOTER2_ID = new CanDevice("SHOOTER 2", 23);
public static final CanDevice INDEXER_ID = new CanDevice("INDEXER",24);