Team4388/2026KPopRobotHunters
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Indexer

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This commit is contained in:
Shikhar
2026-02-16 18:21:53 -07:00
parent 6e5bb74bf0
commit 7ec022bc7a
4 changed files with 18 additions and 18 deletions
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src/main/java/frc4388/robot/subsystems/shooter/ShooterReal.java
+9 -6
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@@ -56,16 +56,18 @@ public class ShooterReal implements ShooterIO {
}
@Override
public void setIndexerVelocity(ShooterState state, AngularVelocity target) {
state.indexerTargetVelocity = target;
public void setIndexerOutput(ShooterState state, double percentOutput) {
state.indexerTargetOutput = percentOutput;
if(target.baseUnitMagnitude() == 0) {
if(percentOutput == 0) {
m_indexerMotor.set(0);
return;
}
AngularVelocity motorRps = target.times(ShooterConstants.INDEXER_GEAR_RATIO);
m_indexerMotor.setControl(m_indexerVelocity.withVelocity(motorRps));
// AngularVelocity motorRps = target.times(ShooterConstants.INDEXER_GEAR_RATIO);
m_indexerMotor.set(percentOutput);
}
@@ -74,7 +76,8 @@ public class ShooterReal implements ShooterIO {
state.motor1Velocity = m_shooter1Motor.getVelocity().getValue().div(ShooterConstants.SHOOTERMOTOR_GEAR_RATIO);
state.motor2Velocity = m_shooter2Motor.getVelocity().getValue().div(ShooterConstants.SHOOTERMOTOR_GEAR_RATIO);
state.indexerVelocity = m_indexerMotor.getVelocity().getValue().div(ShooterConstants.INDEXER_GEAR_RATIO);
state.indexerOutput = m_indexerMotor.get();
// state.indexerOutput = m_indexerMotor.getVelocity().getValue().div(ShooterConstants.INDEXER_GEAR_RATIO);
// state.motorLinearVelocity = InchesPerSecond.of(m_shooter1Motor.getVelocity().getValue().in(RotationsPerSecond) * ShooterConstants.FEEDER_INCHES_PER_ROT);