Team4388/2026KPopRobotHunters
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- shooting while moving corrected (vertical movements)
- reverse indexer before shooting
- defensive positions fixed values
- stalling motors led fixed (except shooter)
This commit is contained in:
mimigamin
2026-03-20 15:40:07 -06:00
parent 4ffbe3f595
commit 69677d5ae9
7 changed files with 268 additions and 132 deletions
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src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java
+22 -14
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@@ -2,6 +2,8 @@ package frc4388.robot.subsystems.shooter;
import static edu.wpi.first.units.Units.RotationsPerSecond;
import org.littletonrobotics.junction.Logger;
import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
import com.ctre.phoenix6.configs.MotorOutputConfigs;
import com.ctre.phoenix6.configs.Slot0Configs;
@@ -31,10 +33,14 @@ public class ShooterConstants {
// public static final ConfigurableDouble SHOOTER_IDLE_MAX_CURRENT = new ConfigurableDouble("Shooter Idle max current", 10);
public static final ConfigurableDouble INDEXER_FORWARD_OUTPUT = new ConfigurableDouble("Indexer FWD % Output", -0.4);
public static final ConfigurableDouble INDEXER_REVERSE_OUTPUT = new ConfigurableDouble("Indexer reverse % Output", 0.4);
public static final ConfigurableDouble INDEXER_REVERSE_OUTPUT = new ConfigurableDouble("Indexer reverse % Output", 0.2);
public static final ConfigurableDouble MODEL_TRIM = new ConfigurableDouble("TRIM SHOOTER SPEED", 0);
public static final double NEG_OFFSET = 8.;
public static final double POS_OFFSET = 8.;
public static final ConfigurableDouble AIM_LEAD_TIME = new ConfigurableDouble("Aim lead time", -1);
// Shoot mode tolerances
@@ -49,21 +55,23 @@ public class ShooterConstants {
public static final ConfigurableDouble SHOOTER_SPEED_TOLERANCE = new ConfigurableDouble("Shooter speed tolerance RPS", 3);
//
public static AngularVelocity getTargetShooterSpeed(double hubDistMeters) {
// Model derived from points
// double speed =
// 1.11576*hubDistMeters*hubDistMeters +
// 0.318464*hubDistMeters +
// 30.6293;
double speed =
0.0593402*hubDistMeters*hubDistMeters +
public static AngularVelocity getTargetShooterSpeed(double hubDistMeters, double chassisXSpeed) {
double speed = 0;
if (Math.abs(chassisXSpeed) < 0.1){
speed = 0.0593402*hubDistMeters*hubDistMeters +
4.90561*hubDistMeters +
30.35696 + MODEL_TRIM.get();
// double speed =
// 0.00610938*hubDistMeters*hubDistMeters
// 5.65235*hubDistMeters +
// 22.82825;
} else if (chassisXSpeed > 0){
speed = 0.0593402*hubDistMeters*hubDistMeters +
4.90561*hubDistMeters +
30.35696 + chassisXSpeed * POS_OFFSET + MODEL_TRIM.get();
} else { // Negative is closer to hub
speed = 0.0593402*hubDistMeters*hubDistMeters +
4.90561*hubDistMeters +
30.35696 + chassisXSpeed * NEG_OFFSET + MODEL_TRIM.get();
}
double max = SHOOTER_MAX_VELOCITY.get();