Team4388/2026KPopRobotHunters
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left camera

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This commit is contained in:
Michael Mikovsky
2026-02-20 20:59:06 -08:00
parent 32ede81ffa
commit 9c7159ba3b
9 changed files with 62 additions and 49 deletions
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src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java
+19 -5
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@@ -19,9 +19,10 @@ public class ShooterConstants {
public static final double INDEXER_GEAR_RATIO = 1.;
public static final ConfigurableDouble SHOOTER_ACTIVE_VELOCITY = new ConfigurableDouble("Shooter Active Velocity", -40);
public static final ConfigurableDouble SHOOTER_MAX_VELOCITY = new ConfigurableDouble("Shooter MAX Velocity", 60);
public static final ConfigurableDouble SHOOTER_RESTING_VELOCITY = new ConfigurableDouble("Shooter Resting Velocity", 0.0);
public static final ConfigurableDouble INDEXER_FORWARD_OUTPUT = new ConfigurableDouble("Indexer FWD % Output", -0.1);
public static final ConfigurableDouble INDEXER_FORWARD_OUTPUT = new ConfigurableDouble("Indexer FWD % Output", -0.4);
public static final ConfigurableDouble INDEXER_REVERSE_OUTPUT = new ConfigurableDouble("Indexer reverse % Output", 0.0);
public static final ConfigurableDouble AIM_LEAD_TIME = new ConfigurableDouble("Aim lead time", 0);
@@ -39,17 +40,30 @@ public class ShooterConstants {
//
public static AngularVelocity getTargetShooterSpeed(double hubDistMeters) {
double speed = SHOOTER_ACTIVE_VELOCITY.get();
// Model derived from points
double speed =
1.11576*hubDistMeters*hubDistMeters +
0.318464*hubDistMeters +
30.6293;
double max = SHOOTER_MAX_VELOCITY.get();
return RotationsPerSecond.of(speed);
// Clamp speed to max
if(speed > max) {
speed = max;
} else if(speed < -max) {
speed = -max;
}
return RotationsPerSecond.of(-speed);
}
// Motor Configuration
public static Slot0Configs SHOOTER_PID = new Slot0Configs()
.withKV(0.0)
.withKP(0.0)
.withKP(0.08)
.withKI(0.1)
.withKD(0.08);
.withKD(0.0);