Team4388/2026KPopRobotHunters
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VIsion and Roller

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vision constants and implementation
roller percent output
operator controls update
This commit is contained in:
Michael Mikovsky
2026-02-17 18:53:26 -08:00
parent 7ec022bc7a
commit 3a5057fc41
11 changed files with 69 additions and 87 deletions
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src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java
+4 -10
View File
@@ -25,8 +25,8 @@ public class ShooterConstants {
public static final ConfigurableDouble SHOOTER_ACTIVE_VELOCITY = new ConfigurableDouble("Shooter Active Velocity", -35);
public static final ConfigurableDouble SHOOTER_RESTING_VELOCITY = new ConfigurableDouble("Shooter Resting Velocity", -10);
public static final ConfigurableDouble INDEXER_FORWARD_OUTPUT = new ConfigurableDouble("Indexer FWD Velocity", -10);
public static final ConfigurableDouble INDEXER_REVERSE_OUTPUT = new ConfigurableDouble("Indexer reverse Velocity", 10);
public static final ConfigurableDouble INDEXER_FORWARD_OUTPUT = new ConfigurableDouble("Indexer FWD % Output", -0.1);
public static final ConfigurableDouble INDEXER_REVERSE_OUTPUT = new ConfigurableDouble("Indexer reverse % Output", 0.1);
// Tolerances
@@ -48,16 +48,10 @@ public class ShooterConstants {
.withKI(0.1)
.withKD(0.08);
public static Slot0Configs INDEXER_PID = new Slot0Configs()
.withKV(0.0)
.withKP(0.0)
.withKI(0.0)
.withKD(0.2);
public static ConfigurableDouble indexer_kP = new ConfigurableDouble("Indexer KP", 0.2);
public static ConfigurableDouble indexer_kI = new ConfigurableDouble("Indexer KI", 0);
public static ConfigurableDouble indexer_kD = new ConfigurableDouble("Indexer KD", 0);
public static ConfigurableDouble shooter_kP = new ConfigurableDouble("Shooter KP", 0.08);
public static ConfigurableDouble shooter_kI = new ConfigurableDouble("Shooter KI", 0.1);
src/main/java/frc4388/robot/subsystems/shooter/ShooterReal.java
+2 -8
View File
@@ -13,7 +13,7 @@ public class ShooterReal implements ShooterIO {
VelocityDutyCycle shooter1Velocity = new VelocityDutyCycle(0);
VelocityDutyCycle shooter2Velocity = new VelocityDutyCycle(0);
VelocityDutyCycle m_indexerVelocity = new VelocityDutyCycle(0);
// VelocityDutyCycle m_indexerVelocity = new VelocityDutyCycle(0);
public ShooterReal(
@@ -27,7 +27,6 @@ public class ShooterReal implements ShooterIO {
m_shooter1Motor.getConfigurator().apply(ShooterConstants.SHOOTER_PID);
m_shooter2Motor.getConfigurator().apply(ShooterConstants.SHOOTER_PID);
m_indexerMotor.getConfigurator().apply(ShooterConstants.SHOOTER_PID);
m_shooter1Motor.getConfigurator().apply(ShooterConstants.SHOOTER1_MOTOR_CONFIG);
m_shooter2Motor.getConfigurator().apply(ShooterConstants.SHOOTER2_MOTOR_CONFIG);
@@ -35,7 +34,7 @@ public class ShooterReal implements ShooterIO {
shooter1Velocity.Slot = 0;
shooter2Velocity.Slot = 0;
m_indexerVelocity.Slot = 0;
// m_indexerVelocity.Slot = 0;
}
@Override
@@ -95,11 +94,6 @@ public class ShooterReal implements ShooterIO {
ShooterConstants.SHOOTER_PID.kD = ShooterConstants.shooter_kD.get();
m_shooter1Motor.getConfigurator().apply(ShooterConstants.SHOOTER_PID);
m_shooter2Motor.getConfigurator().apply(ShooterConstants.SHOOTER_PID);
ShooterConstants.INDEXER_PID.kP = ShooterConstants.indexer_kP.get();
ShooterConstants.INDEXER_PID.kI = ShooterConstants.indexer_kI.get();
ShooterConstants.INDEXER_PID.kD = ShooterConstants.indexer_kD.get();
m_indexerMotor.getConfigurator().apply(ShooterConstants.INDEXER_PID);
}
}