Team4388/2026KPopRobotHunters
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Test offset

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This commit is contained in:
mimigamin
2026-03-10 21:06:43 -06:00
parent 50b8312c48
commit 960b9f5dd4
6 changed files with 49 additions and 8 deletions
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src/main/java/frc4388/robot/subsystems/shooter/Shooter.java
+8 -2
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@@ -31,6 +31,7 @@ public class Shooter extends SubsystemBase {
// Supplier<Pose2d> m_swervePoseSupplier;
public boolean badShooterVelocity;
public double distanceToHub = 5;
public Shooter(
@@ -76,7 +77,9 @@ public class Shooter extends SubsystemBase {
this.mode = ShooterMode.Idle;
}
public double getDistanceToHub(){
return distanceToHub;
}
public void allowShooting() {
shooterButtonReady = true;
@@ -86,6 +89,9 @@ public class Shooter extends SubsystemBase {
shooterButtonReady = false;
}
public AngularVelocity getBallVelocity() {
return RotationsPerSecond.of((state.motor1Velocity.in(RotationsPerSecond) + state.indexerVelocity.in(RotationsPerSecond)));
}
@AutoLogOutput
public ShooterMode getMode() {
@@ -126,7 +132,7 @@ public class Shooter extends SubsystemBase {
Translation2d fieldPosLead = robotSpeed.times(ShooterConstants.AIM_LEAD_TIME.get()).plus(robotPose2d.getTranslation());
// Get the robot's aim distance to hub
double distanceToHub = (fieldPosLead.minus(FieldPositions.HUB_POSITION).getNorm());
distanceToHub = (fieldPosLead.minus(FieldPositions.HUB_POSITION).getNorm());
//Center of hub to cameras in inches
Logger.recordOutput("Hub Dist", distanceToHub);