Team4388/2026KPopRobotHunters
1
0
Fork 0
mirror of https://github.com/Team4388/2026KPopRobotHunters.git synced 2026-06-09 00:38:03 -06:00
Code Issues Packages Projects Releases Wiki Activity

Update gear ratios

Browse Source
This commit is contained in:
mimigamin
2026-03-19 14:21:46 -06:00
parent 85fe11c8bd
commit 73c3849569
10 changed files with 126 additions and 40 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/subsystems/intake/Intake.java
+7
View File
@@ -45,6 +45,13 @@ public class Intake extends SubsystemBase {
io.setRollerOutput(state, 0);
}
public double getRollerTarget() {
return state.rollerTargetOutput;
}
public double getRollerSpeed() {
return state.rollerOutput;
}
// public enum FieldZone {
// // The robot should aim at the hub
src/main/java/frc4388/robot/subsystems/shooter/Shooter.java
+20 -11
View File
@@ -59,7 +59,8 @@ public class Shooter extends SubsystemBase {
public enum ShooterMode {
Shooting,
ManualShoot,
Idle
Idle,
IndexerStall
}
private ShooterMode mode = ShooterMode.Idle;
@@ -83,6 +84,10 @@ public class Shooter extends SubsystemBase {
public void allowShooting() {
shooterButtonReady = true;
}
public void indexerStalled() {
mode = ShooterMode.IndexerStall;
}
public void denyShooting() {
@@ -169,7 +174,7 @@ public class Shooter extends SubsystemBase {
switch (bitmask) {
case 0b000: // No errors but button is not pressed
io.setIndexerOutput(state, ShooterConstants.INDEXER_REVERSE_OUTPUT.get());
io.setIndexerOutput(state, 0);
m_robotLED.setMode(Constants.LEDConstants.OPREADY);
break;
@@ -180,19 +185,19 @@ public class Shooter extends SubsystemBase {
case 0b010: // Bad shooter velocity, button is not pressed
case 0b011: // Bad shooter velocty, button is pressed
io.setIndexerOutput(state, ShooterConstants.INDEXER_REVERSE_OUTPUT.get());
io.setIndexerOutput(state, 0);
m_robotLED.setMode(Constants.LEDConstants.BAD_FLYWEEL);
break;
case 0b100: // Driver error, button is not pressed
case 0b101: // Driver error, button is pressed
io.setIndexerOutput(state, ShooterConstants.INDEXER_REVERSE_OUTPUT.get());
io.setIndexerOutput(state, 0);
m_robotLED.setMode(Constants.LEDConstants.OPREADY_BADPHYS);
break;
case 0b110: // Driver error, bad shooter vel, button is not pressed
case 0b111: // Driver error, bad shooter vel, button is pressed
io.setIndexerOutput(state, ShooterConstants.INDEXER_REVERSE_OUTPUT.get());
io.setIndexerOutput(state, 0);
m_robotLED.setMode(Constants.LEDConstants.BAD_FLYWEEL_BADPHYS);
break;
}
@@ -207,7 +212,7 @@ public class Shooter extends SubsystemBase {
switch (bitmask2) {
case 0b000: // No errors but button is not pressed
io.setIndexerOutput(state, ShooterConstants.INDEXER_REVERSE_OUTPUT.get());
io.setIndexerOutput(state, 0);
m_robotLED.setMode(Constants.LEDConstants.OPREADY_FEED);
break;
@@ -218,7 +223,7 @@ public class Shooter extends SubsystemBase {
case 0b010: // Bad shooter velocity, button is not pressed
case 0b011: // Bad shooter velocty, button is pressed
io.setIndexerOutput(state, ShooterConstants.INDEXER_REVERSE_OUTPUT.get());
io.setIndexerOutput(state, 0);
m_robotLED.setMode(Constants.LEDConstants.BAD_FLYWEEL);
break;
@@ -244,12 +249,16 @@ public class Shooter extends SubsystemBase {
// Amps.of(ShooterConstants.SHOOTER_IDLE_MAX_CURRENT.get()),
// RotationsPerSecond.of(ShooterConstants.INDEXER_REVERSE_OUTPUT.get())
);
io.setIndexerOutput(state, ShooterConstants.INDEXER_REVERSE_OUTPUT.get());
io.setIndexerOutput(state, 0);
m_robotLED.setMode(Constants.LEDConstants.DEFAULT_PATTERN);
break;
case IndexerStall:
io.setShooterVelocity(state, RotationsPerSecond.of(ShooterConstants.SHOOTER_IDLE_PERCENT_OUTPUT.get()));
io.setIndexerOutput(state, ShooterConstants.INDEXER_REVERSE_OUTPUT.get());
m_robotLED.setMode(Constants.LEDConstants.INDEXER_REVERSE);
break;
}
io.motorStalled(state, m_Intake, m_robotLED);
}
}
src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java
+8 -7
View File
@@ -15,7 +15,7 @@ import frc4388.utility.status.CanDevice;
public class ShooterConstants {
// Motor conversions
public static final double SHOOTERMOTOR_GEAR_RATIO = 1.29; // TODO: supposed to be 9 rotations in to 7 out
public static final double SHOOTERMOTOR_GEAR_RATIO = 1.286; // TODO: supposed to be 9 rotations in to 7 out -- 0.77 or 1.29
public static final double INDEXER_GEAR_RATIO = 1.72; // TODO: change it is supposed to be 18 to 31
public static final double T_CONSTANT = 2;
public static final double SHOOTER_RADIUS = 2/39.37;
@@ -31,8 +31,8 @@ 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", 0.0);
public static final ConfigurableDouble MODEL_TRIM = new ConfigurableDouble("TRIM SHOOTER SPEED", -1.5);
public static final ConfigurableDouble INDEXER_REVERSE_OUTPUT = new ConfigurableDouble("Indexer reverse % Output", 0.4);
public static final ConfigurableDouble MODEL_TRIM = new ConfigurableDouble("TRIM SHOOTER SPEED", 0);
public static final ConfigurableDouble AIM_LEAD_TIME = new ConfigurableDouble("Aim lead time", 0);
@@ -56,8 +56,9 @@ public class ShooterConstants {
// 0.318464*hubDistMeters +
// 30.6293;
double speed =
5.6939*hubDistMeters +
22.76545 + MODEL_TRIM.get();
0.0593402*hubDistMeters*hubDistMeters +
4.90561*hubDistMeters +
30.35696 + MODEL_TRIM.get();
// double speed =
// 0.00610938*hubDistMeters*hubDistMeters
@@ -81,8 +82,8 @@ public class ShooterConstants {
// Motor Configuration
public static Slot0Configs SHOOTER_PID = new Slot0Configs()
.withKV(0.0)
.withKP(0.08)
.withKI(0.15)
.withKP(0.05)
.withKI(0.20)
.withKD(0.0);
src/main/java/frc4388/robot/subsystems/shooter/ShooterIO.java
+3
View File
@@ -7,6 +7,8 @@ import org.littletonrobotics.junction.AutoLog;
import edu.wpi.first.units.measure.AngularVelocity;
import edu.wpi.first.units.measure.Current;
import frc4388.robot.subsystems.intake.Intake;
import frc4388.robot.subsystems.led.LED;
public interface ShooterIO {
@AutoLog
@@ -49,6 +51,7 @@ public interface ShooterIO {
public default void updateInputs(ShooterState state) {}
public default void motorStalled(ShooterState state, Intake m_Intake, LED m_robotLED) {}
public default void updateGains() {}
}
src/main/java/frc4388/robot/subsystems/shooter/ShooterReal.java
+54
View File
@@ -8,6 +8,10 @@ import com.ctre.phoenix6.hardware.TalonFX;
import edu.wpi.first.units.measure.AngularVelocity;
import edu.wpi.first.units.measure.Current;
import edu.wpi.first.wpilibj.Timer;
import frc4388.robot.constants.Constants;
import frc4388.robot.subsystems.intake.Intake;
import frc4388.robot.subsystems.led.LED;
public class ShooterReal implements ShooterIO {
@@ -19,6 +23,12 @@ public class ShooterReal implements ShooterIO {
VelocityDutyCycle shooter2Velocity = new VelocityDutyCycle(0);
// VelocityDutyCycle m_indexerVelocity = new VelocityDutyCycle(0);
private final Timer m_stallTimerShooter = new Timer();
private final Timer m_stallTimerIndexer = new Timer();
private final Timer m_stallTimerRoller = new Timer();
private boolean m_shooterStalling = false;
private boolean m_indexerStalling = false;
private boolean m_rollerStalling = false;
public ShooterReal(
TalonFX shooter1Motor,
@@ -41,6 +51,50 @@ public class ShooterReal implements ShooterIO {
// m_indexerVelocity.Slot = 0;
}
@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)) > 20) {
// if (!m_shooterStalling) {
// m_shooterStalling = true;
// m_stallTimerShooter.restart();
// }
// if (m_stallTimerShooter.hasElapsed(5.0)) {
// m_robotLED.setMode(Constants.LEDConstants.MOTOR_STALLED);
// }
// } else {
// m_shooterStalling = false;
// m_stallTimerShooter.stop();
// }
// if (Math.abs(state.indexerTargetOutput) - Math.abs(state.indexerOutput) > 0.2) {
// if (!m_indexerStalling) {
// m_indexerStalling = true;
// m_stallTimerIndexer.restart();
// }
// if (m_stallTimerIndexer.hasElapsed(5.0)) {
// m_robotLED.setMode(Constants.LEDConstants.MOTOR_STALLED);
// }
// } else {
// m_indexerStalling = false;
// m_stallTimerIndexer.stop();
// }
// if (Math.abs(m_Intake.getRollerTarget()) - Math.abs(m_Intake.getRollerSpeed()) > 0.2) {
// if (!m_rollerStalling) {
// m_rollerStalling = true;
// m_stallTimerRoller.restart();
// }
// if (m_stallTimerRoller.hasElapsed(5.0)) {
// m_robotLED.setMode(Constants.LEDConstants.MOTOR_STALLED);
// }
// } else {
// m_rollerStalling = false;
// m_stallTimerRoller.stop();
// }
}
@Override
public void setShooterVelocity(ShooterState state, AngularVelocity target) {
state.motor1TargetVelocity = target;
src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java
+1 -4
View File
@@ -410,12 +410,9 @@ public class SwerveDrive extends SubsystemBase implements Queryable {
);
if (ballVelocity > 1E-3 && Math.abs(chassisSpeeds.vyMetersPerSecond) > 1E-3){
double aimOffset = chassisSpeeds.vyMetersPerSecond*distanceToHub/(Math.abs(ballVelocity));
double aimOffsetComplext = (chassisSpeeds.vyMetersPerSecond * distanceToHub) / (Math.abs(ballVelocity) * Math.cos(Math.atan((-1.4478 - (2.8956 + 4 * (0.03724333 * distanceToHub + 0.64797583) - Math.sqrt(Math.pow(2.8956 + 4 * (0.03724333 * distanceToHub + 0.64797583), 2) - 8.3863)) / 2) / distanceToHub)));
double aimOffset = chassisSpeeds.vyMetersPerSecond*(distanceToHub + SwerveDriveConstants.distanceTolerence.get())/(Math.abs(ballVelocity));
fieldPos = new Translation2d(fieldPos.getX(), fieldPos.getY() - aimOffset);
Logger.recordOutput("Offset Simple", aimOffset);
Logger.recordOutput("Offset Complex", aimOffsetComplext);
}
src/main/java/frc4388/robot/subsystems/swerve/SwerveDriveConstants.java
+2
View File
@@ -73,6 +73,8 @@ public final class SwerveDriveConstants {
public static final boolean INVERT_Y = true;
public static final boolean INVERT_ROTATION = false;
public static ConfigurableDouble distanceTolerence = new ConfigurableDouble("Distance Tolerence", 0.5);
// public static final Trim POINTLESS_TRIM = new Trim("Pointless Trim", Double.MAX_VALUE, Double.MIN_VALUE, 0.1, 0);
public static final class ModuleSpecificConstants { //2026