Team4388/2026KPopRobotHunters
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Robot should be ready

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This commit is contained in:
Michael Mikovsky
2026-02-09 17:18:54 -08:00
parent d90bddac0f
commit 51d2b80ea0
14 changed files with 183 additions and 95 deletions
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src/main/java/frc4388/robot/subsystems/shooter/Shooter.java
+14 -10
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@@ -1,5 +1,9 @@
package frc4388.robot.subsystems.shooter;
import static edu.wpi.first.units.Units.Rotation;
import static edu.wpi.first.units.Units.Rotations;
import static edu.wpi.first.units.Units.RotationsPerSecond;
import java.util.function.Supplier;
import org.littletonrobotics.junction.Logger;
@@ -11,7 +15,7 @@ import frc4388.robot.subsystems.intake.IntakeConstants;
import frc4388.robot.subsystems.shooter.ShooterIO.ShooterState;
public class Shooter extends SubsystemBase {
ShooterIO io;
public ShooterIO io;
ShooterStateAutoLogged state = new ShooterStateAutoLogged();
// Supplier<Pose2d> m_swervePoseSupplier;
@@ -46,19 +50,19 @@ public class Shooter extends SubsystemBase {
public void setMode(ShooterMode mode) {
switch (mode) {
case Active:
io.setMotor1Velocity(state, ShooterConstants.SHOOTER_ACTIVE_VELOCITY);
io.setMotor2Velocity(state, ShooterConstants.SHOOTER_ACTIVE_VELOCITY);
io.setIndexerVelocity(state, ShooterConstants.INDEXER_ACTIVE_VELOCITY);
io.setShooterVelocity(state, RotationsPerSecond.of(ShooterConstants.SHOOTER_ACTIVE_VELOCITY.get()));
// io.setMotor2Velocity(state, ShooterConstants.SHOOTER_ACTIVE_VELOCITY);
io.setIndexerVelocity(state, RotationsPerSecond.of(ShooterConstants.INDEXER_ACTIVE_VELOCITY.get()));
break;
case Resting:
io.setMotor1Velocity(state, ShooterConstants.SHOOTER_RESTING_VELOCITY);
io.setMotor2Velocity(state, ShooterConstants.SHOOTER_RESTING_VELOCITY);
io.setIndexerVelocity(state, ShooterConstants.INDEXER_INACTIVE_VELOCITY);
io.setShooterVelocity(state, RotationsPerSecond.of(ShooterConstants.SHOOTER_RESTING_VELOCITY.get()));
// io.setMotor2Velocity(state, ShooterConstants.SHOOTER_RESTING_VELOCITY);
io.setIndexerVelocity(state, RotationsPerSecond.of(ShooterConstants.INDEXER_INACTIVE_VELOCITY.get()));
break;
case Inactive:
io.setMotor1Velocity(state, ShooterConstants.SHOOTER_RESTING_VELOCITY);
io.setMotor2Velocity(state, ShooterConstants.SHOOTER_RESTING_VELOCITY);
io.setIndexerVelocity(state, ShooterConstants.INDEXER_INACTIVE_VELOCITY);
io.setShooterVelocity(state, RotationsPerSecond.of(ShooterConstants.SHOOTER_RESTING_VELOCITY.get()));
// io.setMotor2Velocity(state, ShooterConstants.SHOOTER_RESTING_VELOCITY);
io.setIndexerVelocity(state, RotationsPerSecond.of(ShooterConstants.INDEXER_INACTIVE_VELOCITY.get()));
break;
}
}