Team4388/2026KPopRobotHunters
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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/Shooter.java
+3 -7
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@@ -152,19 +152,15 @@ public class Shooter extends SubsystemBase {
switch (mode) { switch (mode) {
case Shooting: case Shooting:
io.setShooterVelocity(state, RotationsPerSecond.of(ShooterConstants.SHOOTER_ACTIVE_VELOCITY.get())); io.setShooterVelocity(state, RotationsPerSecond.of(ShooterConstants.SHOOTER_ACTIVE_VELOCITY.get()));
if(state.motor1Velocity.in(RotationsPerSecond) > 30){ io.setIndexerOutput(state, ShooterConstants.INDEXER_FORWARD_OUTPUT.get());
io.setIndexerVelocity(state, RotationsPerSecond.of(ShooterConstants.INDEXER_FORWARD_VELOCITY.get()));
}else{
io.setIndexerVelocity(state, RotationsPerSecond.of(ShooterConstants.INDEXER_REVERSE_VELOCITY.get()));
}
break; break;
case Ready: case Ready:
io.setShooterVelocity(state, RotationsPerSecond.of(ShooterConstants.SHOOTER_ACTIVE_VELOCITY.get())); io.setShooterVelocity(state, RotationsPerSecond.of(ShooterConstants.SHOOTER_ACTIVE_VELOCITY.get()));
io.setIndexerVelocity(state, RotationsPerSecond.of(ShooterConstants.INDEXER_REVERSE_VELOCITY.get())); io.setIndexerOutput(state, ShooterConstants.INDEXER_REVERSE_OUTPUT.get());
break; break;
case NotReady: case NotReady:
io.setShooterVelocity(state, RotationsPerSecond.of(ShooterConstants.SHOOTER_RESTING_VELOCITY.get())); io.setShooterVelocity(state, RotationsPerSecond.of(ShooterConstants.SHOOTER_RESTING_VELOCITY.get()));
io.setIndexerVelocity(state, RotationsPerSecond.of(ShooterConstants.INDEXER_REVERSE_VELOCITY.get())); io.setIndexerOutput(state, ShooterConstants.INDEXER_REVERSE_OUTPUT.get());
break; break;
} }
src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java
+2 -2
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@@ -25,8 +25,8 @@ public class ShooterConstants {
public static final ConfigurableDouble SHOOTER_ACTIVE_VELOCITY = new ConfigurableDouble("Shooter Active Velocity", -35); public static final ConfigurableDouble SHOOTER_ACTIVE_VELOCITY = new ConfigurableDouble("Shooter Active Velocity", -35);
public static final ConfigurableDouble SHOOTER_RESTING_VELOCITY = new ConfigurableDouble("Shooter Resting Velocity", -10); public static final ConfigurableDouble SHOOTER_RESTING_VELOCITY = new ConfigurableDouble("Shooter Resting Velocity", -10);
public static final ConfigurableDouble INDEXER_FORWARD_VELOCITY = new ConfigurableDouble("Indexer FWD Velocity", -10); public static final ConfigurableDouble INDEXER_FORWARD_OUTPUT = new ConfigurableDouble("Indexer FWD Velocity", -10);
public static final ConfigurableDouble INDEXER_REVERSE_VELOCITY = new ConfigurableDouble("Indexer reverse Velocity", 10); public static final ConfigurableDouble INDEXER_REVERSE_OUTPUT = new ConfigurableDouble("Indexer reverse Velocity", 10);
// Tolerances // Tolerances
src/main/java/frc4388/robot/subsystems/shooter/ShooterIO.java
+4 -3
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@@ -21,11 +21,12 @@ public interface ShooterIO {
AngularVelocity motor1TargetVelocity = RotationsPerSecond.of(0); AngularVelocity motor1TargetVelocity = RotationsPerSecond.of(0);
AngularVelocity motor2TargetVelocity = RotationsPerSecond.of(0); AngularVelocity motor2TargetVelocity = RotationsPerSecond.of(0);
AngularVelocity indexerTargetVelocity = RotationsPerSecond.of(0); double indexerTargetOutput = 0;
AngularVelocity motor1Velocity = RotationsPerSecond.of(0); AngularVelocity motor1Velocity = RotationsPerSecond.of(0);
AngularVelocity motor2Velocity = RotationsPerSecond.of(0); AngularVelocity motor2Velocity = RotationsPerSecond.of(0);
AngularVelocity indexerVelocity = RotationsPerSecond.of(0); double indexerOutput = 0;
Current motor1Current = Amps.of(0); Current motor1Current = Amps.of(0);
Current motor2Current = Amps.of(0); Current motor2Current = Amps.of(0);
@@ -38,7 +39,7 @@ public interface ShooterIO {
// public default void setShooterPitch(ShooterState state, Angle angle) {} // public default void setShooterPitch(ShooterState state, Angle angle) {}
public default void setShooterVelocity(ShooterState state, AngularVelocity angularVelocity) {} public default void setShooterVelocity(ShooterState state, AngularVelocity angularVelocity) {}
// public default void setMotor2Velocity(ShooterState state, AngularVelocity angularVelocity) {} // public default void setMotor2Velocity(ShooterState state, AngularVelocity angularVelocity) {}
public default void setIndexerVelocity(ShooterState state, AngularVelocity linearVelocity) {} public default void setIndexerOutput(ShooterState state, double percentOutput) {}
public default void updateInputs(ShooterState state) {} public default void updateInputs(ShooterState state) {}
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 @Override
public void setIndexerVelocity(ShooterState state, AngularVelocity target) { public void setIndexerOutput(ShooterState state, double percentOutput) {
state.indexerTargetVelocity = target; state.indexerTargetOutput = percentOutput;
if(target.baseUnitMagnitude() == 0) { if(percentOutput == 0) {
m_indexerMotor.set(0); m_indexerMotor.set(0);
return; 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.motor1Velocity = m_shooter1Motor.getVelocity().getValue().div(ShooterConstants.SHOOTERMOTOR_GEAR_RATIO);
state.motor2Velocity = m_shooter2Motor.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); // state.motorLinearVelocity = InchesPerSecond.of(m_shooter1Motor.getVelocity().getValue().in(RotationsPerSecond) * ShooterConstants.FEEDER_INCHES_PER_ROT);