Team4388/2026KPopRobotHunters
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Update gear ratios

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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
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src/main/java/frc4388/robot/subsystems/shooter/ShooterReal.java
+54
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@@ -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;