Team4388/2026KPopRobotHunters
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mimigamin
2026-03-21 13:04:40 -06:00
parent 89a1f34a4a
commit 3c1b94a2d8
8 changed files with 46 additions and 37 deletions
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src/main/java/frc4388/robot/subsystems/shooter/Shooter.java
+3 -5
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@@ -133,8 +133,7 @@ public class Shooter extends SubsystemBase {
chassisSpeeds.vyMetersPerSecond
);
Translation2d fieldPosLead = robotSpeed.times(ShooterConstants.AIM_LEAD_TIME.get()).plus(FieldPositions.HUB_POSITION);
Rotation2d ang = m_SwerveDrive.getPose2d().getTranslation().minus(fieldPosLead).getAngle();
Rotation2d ang = m_SwerveDrive.getPose2d().getTranslation().minus(fieldPosLead).getAngle().minus(m_SwerveDrive.getPose2d().getRotation());
Pose2d robotPose2d = m_SwerveDrive.getPose2d();
if (TimesNegativeOne.isRed) {
@@ -154,7 +153,8 @@ public class Shooter extends SubsystemBase {
// XYSpeed <= ShooterConstants.ROBOT_SPEED_TOLERANCE.get() |
// AngSpeed <= ShooterConstants.ROBOT_ANG_SPEED_TOLERANCE.get() |
distanceToHub <= ShooterConstants.ROBOT_MIN_HUB.get() |
distanceToHub >= ShooterConstants.ROBOT_MAX_HUB.get();
distanceToHub >= ShooterConstants.ROBOT_MAX_HUB.get() |
Math.abs(ang.getDegrees()) > ShooterConstants.AIM_ANGLE.get();
double shooterSpeed = Math.abs(state.motor1Velocity.in(RotationsPerSecond) + state.motor2Velocity.in(RotationsPerSecond)) / 2;
@@ -186,9 +186,7 @@ public class Shooter extends SubsystemBase {
break;
case 0b001: // No errors and shoot button is pressed
if (ang.getDegrees() < ShooterConstants.AIM_ANGLE.get()){ // robot is aimed at hub
io.setIndexerOutput(state, ShooterConstants.INDEXER_FORWARD_OUTPUT.get());
}
m_robotLED.setMode(Constants.LEDConstants.OPREADY);
break;