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/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);
}
}