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Shooter finish

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This commit is contained in:
Shikhar
2026-01-27 19:15:37 -07:00
parent 42e911fbdc
commit 4ef804c4ce
3 changed files with 31 additions and 48 deletions
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src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java
+8 -3
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@@ -4,6 +4,7 @@ import static edu.wpi.first.units.Units.Degrees;
import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
import com.ctre.phoenix6.configs.MotorOutputConfigs;
import com.ctre.phoenix6.configs.Slot0Configs;
import com.ctre.phoenix6.configs.TalonFXConfiguration;
import com.ctre.phoenix6.signals.NeutralModeValue;
@@ -12,14 +13,18 @@ import frc4388.utility.status.CanDevice;
public class ShooterConstants {
// Motor conversions
// public static final double ANGLE_MOTOR_GEAR_RATIO = 1.;
public static final double PITCH_MOTOR_GEAR_RATIO = 1.;
public static final double FLYWHEEL_GEAR_RATIO = 1.;
public static final double FEEDER_INCHES_PER_ROT = 1.;
public static final double SHOOTERMOTOR1_GEAR_RATIO = 1.;
public static final double SHOOTERMOTOR2_GEAR_RATIO = 1.;
public static final double INDEXER_GEAR_RATIO = 1.;
public static Slot0Configs SHOOTER_PID = new Slot0Configs()
.withKV(0.0)
.withKP(0.0)
.withKI(0.0)
.withKD(0.0);
// Limits
// 0 is the forward angle on the robot.
src/main/java/frc4388/robot/subsystems/shooter/ShooterIO.java
+7 -3
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@@ -27,12 +27,16 @@ public interface ShooterIO {
AngularVelocity motor1TargetVelocity = RotationsPerSecond.of(0);
AngularVelocity motor2TargetVelocity = RotationsPerSecond.of(0);
AngularVelocity indexerTargetVelocity = RotationsPerSecond.of(0);
AngularVelocity motor1Velocity = RotationsPerSecond.of(0);
AngularVelocity motor2Velocity = RotationsPerSecond.of(0);
AngularVelocity indexerVelocity = RotationsPerSecond.of(0);
Current motor1Current = Amps.of(0);
Current motor2Current = Amps.of(0);
Current indexerCurrent = Amps.of(0);
LinearVelocity motorLinearVelocity = InchesPerSecond.of(0);
AngularVelocity motorVelocity = RotationsPerSecond.of(0);
AngularVelocity motorTargetVelocity = RotationsPerSecond.of(0);
Current motor2Current = Amps.of(0);
}
// public default void setShooterAngle(ShooterState state, Angle angle) {}
src/main/java/frc4388/robot/subsystems/shooter/ShooterReal.java
+16 -42
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@@ -12,7 +12,7 @@ import edu.wpi.first.units.measure.AngularVelocity;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.utility.configurable.ConfigurableDouble;
public class ShooterReal extends SubsystemBase implements ShooterIO {
public class ShooterReal implements ShooterIO {
TalonFX m_shooter1Motor;
TalonFX m_shooter2Motor;
@@ -30,7 +30,10 @@ public class ShooterReal extends SubsystemBase implements ShooterIO {
m_shooter1Motor= shooter1Motor;
m_shooter2Motor= shooter2Motor;
m_indexerMotor = indexerMotor;
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);
@@ -47,24 +50,9 @@ public class ShooterReal extends SubsystemBase implements ShooterIO {
}
}
public static Slot0Configs SHOOTER_PID;
static {
SHOOTER_PID = new Slot0Configs();
SHOOTER_PID.kV = 0.0;
SHOOTER_PID.kP = 0.0;
SHOOTER_PID.kI = 0.0;
SHOOTER_PID.kD = 0.0;
}
ConfigurableDouble kV = new ConfigurableDouble("Shooter kV", 0.12);
ConfigurableDouble kP = new ConfigurableDouble("Shooter kP", 0.11);
ConfigurableDouble kI = new ConfigurableDouble("Shooter kI", 0.48);
ConfigurableDouble kD = new ConfigurableDouble("Shooter kD", 0.01);
// // TODO: Test
// @Override
@@ -96,32 +84,15 @@ public class ShooterReal extends SubsystemBase implements ShooterIO {
// m_pitchMotor.setControl(posRequest);
// }
@Override
public void periodic() {
SHOOTER_PID = new Slot0Configs();
SHOOTER_PID.kV = kV.get();
SHOOTER_PID.kP = kP.get();
SHOOTER_PID.kI = kI.get();
SHOOTER_PID.kD = kD.get();
m_shooter1Motor.getConfigurator().apply(SHOOTER_PID);
m_shooter2Motor.getConfigurator().apply(SHOOTER_PID);
}
@Override
public void setMotor1Velocity(ShooterState state, AngularVelocity target) {
state.motor1TargetVelocity = target;
state.motor2TargetVelocity = target;
double motorRps = target.in(RotationsPerSecond) / ShooterConstants.INDEXER_GEAR_RATIO;
m_indexerMotor.setControl(new VelocityDutyCycle(motorRps));
}
@Override
public void setMotor2Velocity(ShooterState state, AngularVelocity target) {
state.motor2TargetVelocity = target;
double motorRps = target.in(RotationsPerSecond) / ShooterConstants.INDEXER_GEAR_RATIO;
m_indexerMotor.setControl(new VelocityDutyCycle(motorRps));
m_shooter1Motor.setControl(new VelocityDutyCycle(motorRps));
m_shooter2Motor.setControl(new VelocityDutyCycle(motorRps));
}
@Override
@@ -134,12 +105,15 @@ public class ShooterReal extends SubsystemBase implements ShooterIO {
@Override
public void updateInputs(ShooterState state) {
state.motorVelocity = m_shooter1Motor.getVelocity().getValue();
state.motorVelocity = m_shooter2Motor.getVelocity().getValue();
state.motorVelocity = m_indexerMotor.getVelocity().getValue();
state.motor1Velocity = m_shooter1Motor.getVelocity().getValue();
state.motor2Velocity = m_shooter2Motor.getVelocity().getValue();
state.indexerVelocity = m_indexerMotor.getVelocity().getValue();
state.motorLinearVelocity = InchesPerSecond.of(m_shooter1Motor.getVelocity().getValue().in(RotationsPerSecond) * ShooterConstants.FEEDER_INCHES_PER_ROT);
state.motor1Current = m_shooter1Motor.getStatorCurrent().getValue();
state.motor2Current = m_shooter2Motor.getStatorCurrent().getValue();
state.indexerCurrent = m_indexerMotor.getStatorCurrent().getValue();
}
}