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

Drive shoot auto and shooter tolerence

Browse Source
This commit is contained in:
mimigamin
2026-03-20 20:01:06 -06:00
parent 69677d5ae9
commit 95c8a167a5
8 changed files with 351 additions and 46 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java
+5 -6
View File
@@ -2,8 +2,6 @@ package frc4388.robot.subsystems.shooter;
import static edu.wpi.first.units.Units.RotationsPerSecond;
import org.littletonrobotics.junction.Logger;
import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
import com.ctre.phoenix6.configs.MotorOutputConfigs;
import com.ctre.phoenix6.configs.Slot0Configs;
@@ -37,8 +35,8 @@ public class ShooterConstants {
public static final ConfigurableDouble MODEL_TRIM = new ConfigurableDouble("TRIM SHOOTER SPEED", 0);
public static final double NEG_OFFSET = 8.;
public static final double POS_OFFSET = 8.;
public static final ConfigurableDouble NEG_OFFSET = new ConfigurableDouble("Negative offset", 8.);
public static final ConfigurableDouble POS_OFFSET = new ConfigurableDouble("Positive offset", 8.);
public static final ConfigurableDouble AIM_LEAD_TIME = new ConfigurableDouble("Aim lead time", -1);
@@ -47,6 +45,7 @@ public class ShooterConstants {
public static final ConfigurableDouble ROBOT_MIN_HUB = new ConfigurableDouble("Shoot min dist M", 1.8);
public static final ConfigurableDouble ROBOT_MAX_HUB = new ConfigurableDouble("Shoot max dist M", 4.8);
public static final ConfigurableDouble AIM_ANGLE = new ConfigurableDouble("Aim angle tolerance", 5);
public static final ConfigurableDouble ROBOT_ANG_TOLERANCE = new ConfigurableDouble("Ang tolerance DEG", 360);
public static final ConfigurableDouble ROBOT_SPEED_TOLERANCE = new ConfigurableDouble("Speed tolerance MS", 1);
@@ -65,12 +64,12 @@ public class ShooterConstants {
} else if (chassisXSpeed > 0){
speed = 0.0593402*hubDistMeters*hubDistMeters +
4.90561*hubDistMeters +
30.35696 + chassisXSpeed * POS_OFFSET + MODEL_TRIM.get();
30.35696 + chassisXSpeed * POS_OFFSET.get() + MODEL_TRIM.get();
} else { // Negative is closer to hub
speed = 0.0593402*hubDistMeters*hubDistMeters +
4.90561*hubDistMeters +
30.35696 + chassisXSpeed * NEG_OFFSET + MODEL_TRIM.get();
30.35696 + chassisXSpeed * NEG_OFFSET.get() + MODEL_TRIM.get();
}
double max = SHOOTER_MAX_VELOCITY.get();