Team4388/2026KPopRobotHunters
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New shooter model and auto tester

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This commit is contained in:
mimigamin
2026-03-21 13:38:34 -06:00
parent 3c1b94a2d8
commit 75cab187e2
7 changed files with 29 additions and 149 deletions
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src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java
+1 -1
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@@ -39,7 +39,7 @@ public class ShooterConstants {
public static final ConfigurableDouble POS_OFFSET = new ConfigurableDouble("Positive offset", 8.);
public static final ConfigurableDouble AIM_LEAD_TIME = new ConfigurableDouble("Aim lead time", -1);
public static final ConfigurableDouble AIM_LEAD_TIME = new ConfigurableDouble("Aim lead time", -1.1);
// Shoot mode tolerances
public static final ConfigurableDouble ROBOT_MIN_HUB = new ConfigurableDouble("Shoot min dist M", 1.8);
src/main/java/frc4388/robot/subsystems/shooter/ShooterReal.java
+2
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@@ -141,6 +141,8 @@ public class ShooterReal implements ShooterIO {
// Math.abs(currentLimit.in(Amps)) > current &&
// Math.abs(targetVelocity.in(RotationsPerSecond)) > velocity
// ) {
state.motor1TargetVelocity = RotationsPerSecond.of(percentOutput);
state.motor2TargetVelocity = RotationsPerSecond.of(percentOutput);
m_shooter1Motor.set(percentOutput);
m_shooter2Motor.set(percentOutput);
// } else {
src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java
+16 -19
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@@ -416,19 +416,20 @@ public class SwerveDrive extends SubsystemBase implements Queryable {
// Drive with the robot facing towards a specific position
public void driveFacingPosition(Translation2d leftStick, Translation2d fieldPos, double aimLeadTime) {
// Get the current speed of the robot
Translation2d robotSpeed = new Translation2d(
chassisSpeeds.vxMetersPerSecond,
chassisSpeeds.vyMetersPerSecond
);
// Calculate a point to aim ahead of the actual position.
Translation2d fieldPosLead = robotSpeed.times(aimLeadTime).plus(fieldPos);
// Calculate the angle between the current position and the lead position
Translation2d robotSpeedYOnly = new Translation2d(0, chassisSpeeds.vyMetersPerSecond);
double yDistance = Math.abs(getPose2d().getTranslation().getY() - fieldPos.getY());
if ((chassisSpeeds.vyMetersPerSecond >0 &&getPose2d().getTranslation().getY() >4)||(chassisSpeeds.vyMetersPerSecond <0 &&getPose2d().getTranslation().getY() <4)){
if (Math.abs(chassisSpeeds.vyMetersPerSecond) > 0.2) {
if (TimesNegativeOne.isRed){
robotSpeedYOnly = new Translation2d(-SwerveDriveConstants.FAR_OFFSET.get() * yDistance * (getPose2d().getTranslation().getX()-7.28989525), chassisSpeeds.vyMetersPerSecond);
} else {
robotSpeedYOnly = new Translation2d((getPose2d().getTranslation().getX())* yDistance* SwerveDriveConstants.FAR_OFFSET.get(), chassisSpeeds.vyMetersPerSecond);
}
} }
Translation2d fieldPosLead = robotSpeedYOnly.times(aimLeadTime).plus(fieldPos);
Rotation2d ang = getPose2d().getTranslation().minus(fieldPosLead).getAngle();
Pose2d fieldPosLeadLog = new Pose2d(fieldPosLead, new Rotation2d());
Logger.recordOutput("Lead Aim", fieldPosLeadLog);
driveFieldAngle(leftStick, ang);
}
@@ -541,13 +542,9 @@ public class SwerveDrive extends SubsystemBase implements Queryable {
}
public void enableRotationOverride(Translation2d fieldTarget, double aimLeadTime, Translation2d fieldPos) {
Translation2d robotSpeed = new Translation2d(
chassisSpeeds.vxMetersPerSecond,
chassisSpeeds.vyMetersPerSecond
);
Translation2d fieldPosLead = robotSpeed.times(aimLeadTime).plus(fieldPos);
System.out.println("field pos lead: " + fieldPosLead);
Logger.recordOutput("Auto Aim", fieldPosLead);
Translation2d robotSpeedYOnly = new Translation2d(0, chassisSpeeds.vyMetersPerSecond);
Translation2d fieldPosLead = robotSpeedYOnly.times(aimLeadTime).plus(fieldPos);
m_rotationOverrideTarget = fieldPosLead;
m_useRotationOverride = true;
}
src/main/java/frc4388/robot/subsystems/swerve/SwerveDriveConstants.java
+1 -2
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@@ -73,8 +73,7 @@ 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 ConfigurableDouble FAR_OFFSET = new ConfigurableDouble("Far Offset", 0.05);
// 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