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/ShooterReal.java
-45
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@@ -43,52 +43,7 @@ public class ShooterReal implements ShooterIO {
shooter2Velocity.Slot = 0;
m_indexerVelocity.Slot = 0;
}
private Angle clampAng(Angle x, Angle min, Angle max){
if(x.gt(max)) {
return max;
}else if(x.lt(min)) {
return min;
}else{
return x;
}
}
// // TODO: Test
// @Override
// public void setShooterAngle(ShooterState state, Angle angle) {
// state.shooterTargetAngle = angle;
// // Assume that the angle is always accurate, because I think we will use a shaft encoder
// // Assume that 0 degrees = forwards. Might need an offset here
// Angle boundedAngle = clampAng(angle, ShooterConstants.ANGLE_LIMIT_LEFT, ShooterConstants.ANGLE_LIMIT_RIGHT);
// // (REAL_ROT) * (MOTOR_ROT / REAL_ROT) = MOTOR_ROT
// double motorTargetAngle = boundedAngle.in(Rotations) / ShooterConstants.ANGLE_MOTOR_GEAR_RATIO;
// PositionDutyCycle posRequest = new PositionDutyCycle(motorTargetAngle);
// m_angleMotor.setControl(posRequest);
// }
// TODO: Test
// @Override
// public void setShooterPitch(ShooterState state, Angle angle) {
// state.shooterTargetPitch = angle;
// // TODO: Test
// // This assumes that the 0 is paralell to the ground. Might need an offset here
// Angle boundedAngle = clampAng(angle, ShooterConstants.PITCH_LIMIT_UPPER, ShooterConstants.PITCH_LIMIT_LOWER);
// // (REAL_ROT) * (MOTOR_ROT / REAL_ROT) = MOTOR_ROT
// double motorTargetAngle = boundedAngle.in(Rotations) / ShooterConstants.PITCH_MOTOR_GEAR_RATIO;
// PositionDutyCycle posRequest = new PositionDutyCycle(motorTargetAngle);
// m_pitchMotor.setControl(posRequest);
// }
@Override
public void setShooterVelocity(ShooterState state, AngularVelocity target) {
state.motor1TargetVelocity = target;