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/ShooterReal.java
+11 -5
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@@ -100,7 +100,7 @@ public class ShooterReal implements ShooterIO {
return;
}
AngularVelocity motorRps = target.div(ShooterConstants.INDEXER_GEAR_RATIO);
AngularVelocity motorRps = target.times(ShooterConstants.INDEXER_GEAR_RATIO);
m_shooter1Motor.setControl(shooter1Velocity.withVelocity(motorRps));
m_shooter2Motor.setControl(shooter2Velocity.withVelocity(motorRps));
@@ -109,7 +109,13 @@ public class ShooterReal implements ShooterIO {
@Override
public void setIndexerVelocity(ShooterState state, AngularVelocity target) {
state.indexerTargetVelocity = target;
AngularVelocity motorRps = target.div(ShooterConstants.INDEXER_GEAR_RATIO);
if(target.baseUnitMagnitude() == 0) {
m_indexerMotor.set(0);
return;
}
AngularVelocity motorRps = target.times(ShooterConstants.INDEXER_GEAR_RATIO);
m_indexerMotor.setControl(m_indexerVelocity.withVelocity(motorRps));
}
@@ -117,9 +123,9 @@ public class ShooterReal implements ShooterIO {
@Override
public void updateInputs(ShooterState state) {
state.motor1Velocity = m_shooter1Motor.getVelocity().getValue().times(ShooterConstants.SHOOTERMOTOR1_GEAR_RATIO);
state.motor2Velocity = m_shooter2Motor.getVelocity().getValue().times(ShooterConstants.SHOOTERMOTOR2_GEAR_RATIO);
state.indexerVelocity = m_indexerMotor.getVelocity().getValue().times(ShooterConstants.INDEXER_GEAR_RATIO);
state.motor1Velocity = m_shooter1Motor.getVelocity().getValue().div(ShooterConstants.SHOOTERMOTOR1_GEAR_RATIO);
state.motor2Velocity = m_shooter2Motor.getVelocity().getValue().div(ShooterConstants.SHOOTERMOTOR2_GEAR_RATIO);
state.indexerVelocity = m_indexerMotor.getVelocity().getValue().div(ShooterConstants.INDEXER_GEAR_RATIO);
// state.motorLinearVelocity = InchesPerSecond.of(m_shooter1Motor.getVelocity().getValue().in(RotationsPerSecond) * ShooterConstants.FEEDER_INCHES_PER_ROT);