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/ShooterReal.java
+20 -17
View File
@@ -55,21 +55,24 @@ public class ShooterReal implements ShooterIO {
}
@Override
public void motorStalled(ShooterState state, Intake m_Intake, LED m_robotLED) {
if (Math.abs(state.motor1TargetVelocity.in(RotationsPerSecond)) - Math.abs(state.motor1Velocity.in(RotationsPerSecond)) > 40) {
if (!m_shooterStalling) {
m_shooterStalling = true;
m_stallTimerShooter.restart();
}
if (m_stallTimerShooter.hasElapsed(5.0)) {
m_robotLED.setMode(Constants.LEDConstants.MOTOR_STALLED);
motorStall = "Shooter Stalled";
System.out.println(Math.abs(state.motor1TargetVelocity.in(RotationsPerSecond)) - Math.abs(state.motor1Velocity.in(RotationsPerSecond)));
}
} else {
m_shooterStalling = false;
m_stallTimerShooter.reset();
}
public void motorStalled(ShooterState state, Intake m_Intake, LED m_robotLED) {
motorStall = "";
// if (Math.abs(state.motor1TargetVelocity.in(RotationsPerSecond)) - Math.abs(state.motor1Velocity.in(RotationsPerSecond)) > 40) {
// if (!m_shooterStalling) {
// m_shooterStalling = true;
// m_stallTimerShooter.restart();
// }
// if (m_stallTimerShooter.hasElapsed(5.0)) {
// m_robotLED.setMode(Constants.LEDConstants.MOTOR_STALLED);
// motorStall = "Shooter Stalled";
// System.out.println("Shooter Stalled: " + (Math.abs(state.motor1TargetVelocity.in(RotationsPerSecond)) - Math.abs(state.motor1Velocity.in(RotationsPerSecond))));
// System.out.println("Target Velocity: " + Math.abs(state.motor1TargetVelocity.in(RotationsPerSecond)));
// System.out.println("Actual Velocity: " + Math.abs(state.motor1Velocity.in(RotationsPerSecond)));
// }
// } else {
// m_shooterStalling = false;
// m_stallTimerShooter.reset();
// }
if (Math.abs(state.indexerTargetOutput) - Math.abs(state.indexerOutput) > 0.3) {
if (!m_indexerStalling) {
@@ -79,7 +82,7 @@ public class ShooterReal implements ShooterIO {
if (m_stallTimerIndexer.hasElapsed(5.0)) {
m_robotLED.setMode(Constants.LEDConstants.MOTOR_STALLED);
motorStall = "Indexer Stalled";
System.out.println(Math.abs(state.indexerTargetOutput) - Math.abs(state.indexerOutput));
System.out.println("Indexer Stalled: " + (Math.abs(state.indexerTargetOutput) - Math.abs(state.indexerOutput)));
}
} else {
m_indexerStalling = false;
@@ -94,7 +97,7 @@ public class ShooterReal implements ShooterIO {
if (m_stallTimerRoller.hasElapsed(5.0)) {
m_robotLED.setMode(Constants.LEDConstants.MOTOR_STALLED);
motorStall = "Roller Stalled";
System.out.println(Math.abs(m_Intake.getRollerTarget()) - Math.abs(m_Intake.getRollerSpeed()));
System.out.println("Roller Stalled: " + (Math.abs(m_Intake.getRollerTarget()) - Math.abs(m_Intake.getRollerSpeed())));
}
} else {
m_rollerStalling = false;