Team4388/2026KPopRobotHunters
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add testing changes

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mimigamin
2026-03-19 18:32:02 -06:00
parent 917aaa7746
commit 4ffbe3f595
7 changed files with 90 additions and 74 deletions
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src/main/java/frc4388/robot/subsystems/shooter/ShooterReal.java
+47 -38
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@@ -3,6 +3,7 @@ package frc4388.robot.subsystems.shooter;
import static edu.wpi.first.units.Units.Amps;
import static edu.wpi.first.units.Units.RotationsPerSecond;
import org.littletonrobotics.junction.Logger;
import com.ctre.phoenix6.controls.VelocityDutyCycle;
import com.ctre.phoenix6.hardware.TalonFX;
@@ -29,6 +30,8 @@ public class ShooterReal implements ShooterIO {
private boolean m_shooterStalling = false;
private boolean m_indexerStalling = false;
private boolean m_rollerStalling = false;
public String motorStall = "";
public ShooterReal(
TalonFX shooter1Motor,
@@ -52,46 +55,52 @@ public class ShooterReal implements ShooterIO {
}
@Override
public void motorStalled(ShooterState state, Intake m_Intake, LED m_robotLED) {
// if (Math.abs(state.motor1TargetVelocity.in(RotationsPerSecond)) - Math.abs(state.motor1Velocity.in(RotationsPerSecond)) > 20) {
// if (!m_shooterStalling) {
// m_shooterStalling = true;
// m_stallTimerShooter.restart();
// }
// if (m_stallTimerShooter.hasElapsed(5.0)) {
// m_robotLED.setMode(Constants.LEDConstants.MOTOR_STALLED);
// }
// } else {
// m_shooterStalling = false;
// m_stallTimerShooter.stop();
// }
public void motorStalled(ShooterState state, Intake m_Intake, LED m_robotLED) {
if (Math.abs(state.motor1TargetVelocity.in(RotationsPerSecond)) - Math.abs(state.motor1Velocity.in(RotationsPerSecond)) > 40) {
if (!m_shooterStalling) {
m_shooterStalling = true;
m_stallTimerShooter.restart();
}
if (m_stallTimerShooter.hasElapsed(5.0)) {
m_robotLED.setMode(Constants.LEDConstants.MOTOR_STALLED);
motorStall = "Shooter Stalled";
System.out.println(Math.abs(state.motor1TargetVelocity.in(RotationsPerSecond)) - Math.abs(state.motor1Velocity.in(RotationsPerSecond)));
}
} else {
m_shooterStalling = false;
m_stallTimerShooter.reset();
}
// if (Math.abs(state.indexerTargetOutput) - Math.abs(state.indexerOutput) > 0.2) {
// if (!m_indexerStalling) {
// m_indexerStalling = true;
// m_stallTimerIndexer.restart();
// }
// if (m_stallTimerIndexer.hasElapsed(5.0)) {
// m_robotLED.setMode(Constants.LEDConstants.MOTOR_STALLED);
// }
// } else {
// m_indexerStalling = false;
// m_stallTimerIndexer.stop();
// }
if (Math.abs(state.indexerTargetOutput) - Math.abs(state.indexerOutput) > 0.3) {
if (!m_indexerStalling) {
m_indexerStalling = true;
m_stallTimerIndexer.restart();
}
if (m_stallTimerIndexer.hasElapsed(5.0)) {
m_robotLED.setMode(Constants.LEDConstants.MOTOR_STALLED);
motorStall = "Indexer Stalled";
System.out.println(Math.abs(state.indexerTargetOutput) - Math.abs(state.indexerOutput));
}
} else {
m_indexerStalling = false;
m_stallTimerIndexer.reset();
}
// if (Math.abs(m_Intake.getRollerTarget()) - Math.abs(m_Intake.getRollerSpeed()) > 0.2) {
// if (!m_rollerStalling) {
// m_rollerStalling = true;
// m_stallTimerRoller.restart();
// }
// if (m_stallTimerRoller.hasElapsed(5.0)) {
// m_robotLED.setMode(Constants.LEDConstants.MOTOR_STALLED);
// }
// } else {
// m_rollerStalling = false;
// m_stallTimerRoller.stop();
// }
if (Math.abs(m_Intake.getRollerTarget()) - Math.abs(m_Intake.getRollerSpeed()) > 0.4) {
if (!m_rollerStalling) {
m_rollerStalling = true;
m_stallTimerRoller.restart();
}
if (m_stallTimerRoller.hasElapsed(5.0)) {
m_robotLED.setMode(Constants.LEDConstants.MOTOR_STALLED);
motorStall = "Roller Stalled";
System.out.println(Math.abs(m_Intake.getRollerTarget()) - Math.abs(m_Intake.getRollerSpeed()));
}
} else {
m_rollerStalling = false;
m_stallTimerRoller.reset();
}
Logger.recordOutput("Stalled Motor: ", motorStall);
}