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

Merge branch 'shoot-button' into operator-controls

Browse Source
This commit is contained in:
Michael Mikovsky
2026-02-18 16:37:49 -08:00
parent cb5d4aaea8 8e3ee46b4c
commit 9bf368bf4a
5 changed files with 31 additions and 53 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/subsystems/shooter/Shooter.java
+13 -12
View File
@@ -6,6 +6,8 @@ import org.littletonrobotics.junction.AutoLogOutput;
import org.littletonrobotics.junction.Logger;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.kinematics.ChassisSpeeds;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.constants.Constants;
@@ -76,7 +78,6 @@ public class Shooter extends SubsystemBase {
}
@Override
public void periodic() {
// FaultReporter.register(this); // TODO Implement fault reporter
@@ -84,18 +85,18 @@ public class Shooter extends SubsystemBase {
Logger.processInputs("Shooter", state);
io.updateInputs(state);
ChassisSpeeds speed = m_SwerveDrive.chassisSpeeds;
double XYSpeed = Math.sqrt(Math.pow(speed.vxMetersPerSecond,2) + Math.pow(speed.vyMetersPerSecond,2));
double AngSpeed = Math.abs(speed.omegaRadiansPerSecond * (180/Math.PI));
Pose2d robotPose2d = m_SwerveDrive.getPose2d();
double distanceToHub = robotPose2d.getTranslation().minus(FieldPositions.HUB_POSITION).getNorm();
Logger.recordOutput("Hub Dist", distanceToHub);
if(this.mode != ShooterMode.NotReady) {
ChassisSpeeds speed = m_SwerveDrive.chassisSpeeds;
double XYSpeed = Math.sqrt(Math.pow(speed.vxMetersPerSecond,2) + Math.pow(speed.vyMetersPerSecond,2));
double AngSpeed = Math.abs(speed.omegaRadiansPerSecond * (180/Math.PI));
Pose2d robotPose2d = m_SwerveDrive.getPose2d();
double distanceToHub = robotPose2d.getTranslation().minus(FieldPositions.HUB_POSITION).getNorm();
// this.mode = ShooterMode.Shooting;
// TODO: get if the robot is within the angle of the hub
boolean driverError = false;