Team4388/2026KPopRobotHunters
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This commit is contained in:
Michael Mikovsky
2026-02-10 18:42:47 -08:00
parent 539c1bd8eb
commit 983b95fdc7
6 changed files with 118 additions and 103 deletions
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src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java
+15 -2
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@@ -33,8 +33,21 @@ public class ShooterConstants {
public static final ConfigurableDouble SHOOTER_RESTING_VELOCITY = new ConfigurableDouble("Shooter Resting Velocity", 15);
// public static final ConfigurableDouble SHOOTER_INACTIVE_VELOCITY = new ConfigurableDouble("Shooter Inactive Velocity", 0);
public static final ConfigurableDouble INDEXER_ACTIVE_VELOCITY = new ConfigurableDouble("Indexer Active Velocity", 10);
// public static final ConfigurableDouble INDEXER_INACTIVE_VELOCITY = new ConfigurableDouble("Shooter Inactive Velocity", 0);
public static final ConfigurableDouble INDEXER_FORWARD_VELOCITY = new ConfigurableDouble("Indexer FWD Velocity", 10);
public static final ConfigurableDouble INDEXER_REVERSE_VELOCITY = new ConfigurableDouble("Indexer reverse Velocity", 10);
// Tolerances
public static final ConfigurableDouble ROBOT_MIN_HUB = new ConfigurableDouble("Shoot min dist", 1);
public static final ConfigurableDouble ROBOT_MAX_HUB = new ConfigurableDouble("Shoot max dist", 1);
public static final ConfigurableDouble ROBOT_ANG_TOLERANCE = new ConfigurableDouble("Shoot Ang tolerance", 1);
public static final ConfigurableDouble ROBOT_SPEED_TOLERANCE = new ConfigurableDouble("Shoot speed tolerance", 1);
public static final ConfigurableDouble ROBOT_ANG_SPEED_TOLERANCE = new ConfigurableDouble("Shoot Ang speed tolerance", 1);
public static final ConfigurableDouble SHOOT_SPEED_TOLERANCE = new ConfigurableDouble("Shooter speed tolerance", 1);
public static Slot0Configs SHOOTER_PID = new Slot0Configs()
.withKV(0.0)