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/ShooterConstants.java
+6 -6
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@@ -14,7 +14,7 @@ import edu.wpi.first.units.measure.AngularVelocity;
import frc4388.utility.configurable.ConfigurableDouble;
import frc4388.utility.status.CanDevice;
public class ShooterConstants {
public class ShooterConstants {
// Motor conversions
public static final double FEEDER_INCHES_PER_ROT = 1.;
@@ -33,25 +33,25 @@ public class ShooterConstants {
public static final ConfigurableDouble SHOOTER_RESTING_VELOCITY = new ConfigurableDouble("Shooter Resting Velocity", 15);
// public static final ConfigurableDouble SHOOTER_INACTIVE_VELOCITY = new ConfigurableDouble("Shooter Inactive Velocity", 0);
public static final ConfigurableDouble INDEXER_ACTIVE_VELOCITY = new ConfigurableDouble("Shooter Active Velocity", 10);
public static final ConfigurableDouble INDEXER_ACTIVE_VELOCITY = new ConfigurableDouble("Indexer Active Velocity", 10);
// public static final ConfigurableDouble INDEXER_INACTIVE_VELOCITY = new ConfigurableDouble("Shooter Inactive Velocity", 0);
public static Slot0Configs SHOOTER_PID = new Slot0Configs()
.withKV(0.0)
.withKP(0.0)
.withKI(0.0)
.withKD(0.0);
.withKD(0.2);
public static Slot0Configs INDEXER_PID = new Slot0Configs()
.withKV(0.0)
.withKP(0.0)
.withKI(0.0)
.withKD(0.0);
.withKD(0.2);
public static ConfigurableDouble indexer_kP = new ConfigurableDouble("Indexer KP", 0.2);
public static ConfigurableDouble indexer_kI = new ConfigurableDouble("Indexer KP", 0);
public static ConfigurableDouble indexer_kD = new ConfigurableDouble("Indexer KP", 0);
public static ConfigurableDouble indexer_kI = new ConfigurableDouble("Indexer KI", 0);
public static ConfigurableDouble indexer_kD = new ConfigurableDouble("Indexer KD", 0);
public static ConfigurableDouble shooter_kP = new ConfigurableDouble("Shooter KP", 0.2);
public static ConfigurableDouble shooter_kI = new ConfigurableDouble("Shooter KI", 0);