Team4388/2026KPopRobotHunters
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Working robot in testing

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This commit is contained in:
Michael Mikovsky
2026-02-10 17:33:39 -08:00
parent 6ce6d0eb0b
commit 539c1bd8eb
8 changed files with 74 additions and 61 deletions
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src/main/java/frc4388/robot/subsystems/shooter/Shooter.java
+20 -17
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@@ -40,25 +40,10 @@ public class Shooter extends SubsystemBase {
Inactive,
}
private ShooterMode mode = ShooterMode.Inactive;
public void setMode(ShooterMode mode) {
switch (mode) {
case Active:
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.setShooterVelocity(state, RotationsPerSecond.of(ShooterConstants.SHOOTER_RESTING_VELOCITY.get()));
// io.setMotor2Velocity(state, ShooterConstants.SHOOTER_RESTING_VELOCITY);
io.setIndexerVelocity(state, RotationsPerSecond.of(0));
break;
case Inactive:
io.setShooterVelocity(state, RotationsPerSecond.of(ShooterConstants.SHOOTER_RESTING_VELOCITY.get()));
// io.setMotor2Velocity(state, ShooterConstants.SHOOTER_RESTING_VELOCITY);
io.setIndexerVelocity(state, RotationsPerSecond.of(0));
break;
}
this.mode = mode;
}
// Calculate what should be done based off of the position of the robot
@@ -83,5 +68,23 @@ public class Shooter extends SubsystemBase {
io.updateInputs(state);
switch (mode) {
case Active:
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.setShooterVelocity(state, RotationsPerSecond.of(ShooterConstants.SHOOTER_RESTING_VELOCITY.get()));
// io.setMotor2Velocity(state, ShooterConstants.SHOOTER_RESTING_VELOCITY);
io.setIndexerVelocity(state, RotationsPerSecond.of(0));
break;
case Inactive:
io.setShooterVelocity(state, RotationsPerSecond.of(0));
// io.setMotor2Velocity(state, ShooterConstants.SHOOTER_RESTING_VELOCITY);
io.setIndexerVelocity(state, RotationsPerSecond.of(0));
break;
}
}
}