Team4388/2026KPopRobotHunters
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This commit is contained in:
Michael Mikovsky
2026-02-09 18:38:55 -08:00
parent 51d2b80ea0
commit 6ce6d0eb0b
5 changed files with 48 additions and 40 deletions
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src/main/java/frc4388/robot/subsystems/shooter/ShooterReal.java
+13 -15
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@@ -94,6 +94,12 @@ public class ShooterReal implements ShooterIO {
state.motor1TargetVelocity = target;
state.motor2TargetVelocity = target;
if(target.baseUnitMagnitude() == 0) {
m_shooter1Motor.set(0);
m_shooter2Motor.set(0);
return;
}
AngularVelocity motorRps = target.div(ShooterConstants.INDEXER_GEAR_RATIO);
m_shooter1Motor.setControl(shooter1Velocity.withVelocity(motorRps));
@@ -107,14 +113,6 @@ public class ShooterReal implements ShooterIO {
m_indexerMotor.setControl(m_indexerVelocity.withVelocity(motorRps));
}
ConfigurableDouble indexer_kP = new ConfigurableDouble("Indexer KP", 0.2);
ConfigurableDouble indexer_kI = new ConfigurableDouble("Indexer KP", 0);
ConfigurableDouble indexer_kD = new ConfigurableDouble("Indexer KP", 0);
ConfigurableDouble shooter_kP = new ConfigurableDouble("Shooter KP", 0.2);
ConfigurableDouble shooter_kI = new ConfigurableDouble("Shooter KI", 0);
ConfigurableDouble shooter_kD = new ConfigurableDouble("Shooter KD", 0);
@Override
public void updateInputs(ShooterState state) {
@@ -130,19 +128,19 @@ public class ShooterReal implements ShooterIO {
state.indexerCurrent = m_indexerMotor.getStatorCurrent().getValue();
}
@Override
public void updateGains() {
// TEMPORARY PIDs
ShooterConstants.SHOOTER_PID.kP = shooter_kP.get();
ShooterConstants.SHOOTER_PID.kI = shooter_kI.get();
ShooterConstants.SHOOTER_PID.kD = shooter_kD.get();
ShooterConstants.SHOOTER_PID.kP = ShooterConstants.shooter_kP.get();
ShooterConstants.SHOOTER_PID.kI = ShooterConstants.shooter_kI.get();
ShooterConstants.SHOOTER_PID.kD = ShooterConstants.shooter_kD.get();
m_shooter1Motor.getConfigurator().apply(ShooterConstants.SHOOTER_PID);
m_shooter2Motor.getConfigurator().apply(ShooterConstants.SHOOTER_PID);
ShooterConstants.INDEXER_PID.kP = indexer_kP.get();
ShooterConstants.INDEXER_PID.kI = indexer_kI.get();
ShooterConstants.INDEXER_PID.kD = indexer_kD.get();
ShooterConstants.INDEXER_PID.kP = ShooterConstants.indexer_kP.get();
ShooterConstants.INDEXER_PID.kI = ShooterConstants.indexer_kI.get();
ShooterConstants.INDEXER_PID.kD = ShooterConstants.indexer_kD.get();
m_indexerMotor.getConfigurator().apply(ShooterConstants.INDEXER_PID);
}