Team4388/2026KPopRobotHunters
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first day additions

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Shikhar
2026-03-07 20:08:15 -07:00
parent 0ce384a940
commit b073fad277
11 changed files with 326 additions and 23 deletions
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src/main/java/frc4388/robot/subsystems/shooter/Shooter.java
+6
View File
@@ -143,6 +143,12 @@ public class Shooter extends SubsystemBase {
badShooterVelocity = Math.abs(shooterSpeed - shooterSpeedTarget) > ShooterConstants.SHOOTER_SPEED_TOLERANCE.get();
//revtime calculations
// double shooterAcceleration =
double shooterSpeedTargetPretend = ShooterConstants.getTargetShooterSpeed(distanceToHub).in(RotationsPerSecond);
double revTime = (Math.abs(shooterSpeed - shooterSpeedTargetPretend)/((7 - shooterSpeedTargetPretend)/ShooterConstants.T_CONSTANT));
// double revTimeExp = ShooterConstants.T_CONSTANT * Math.log(1 - Math.abs(shooterSpeed/shooterSpeedTargetPretend));
Logger.recordOutput("Time to rev", revTime);
switch (mode) {
case Shooting:
src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java
+7 -1
View File
@@ -17,6 +17,7 @@ public class ShooterConstants {
public static final double SHOOTERMOTOR_GEAR_RATIO = 1.5;
public static final double INDEXER_GEAR_RATIO = 1.;
public static final double T_CONSTANT = 2;
public static final ConfigurableDouble SHOOTER_MAX_VELOCITY = new ConfigurableDouble("Shooter MAX Velocity", 60);
public static final ConfigurableDouble SHOOTER_OVERRIDE_VELOCITY = new ConfigurableDouble("Shooter OVERRIDE Velocity", -42);
@@ -29,7 +30,7 @@ public class ShooterConstants {
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 MODEL_TRIM = new ConfigurableDouble("TRIM SHOOTER SPEED", 0.0);
public static final ConfigurableDouble MODEL_TRIM = new ConfigurableDouble("TRIM SHOOTER SPEED", -1.5);
public static final ConfigurableDouble AIM_LEAD_TIME = new ConfigurableDouble("Aim lead time", 0);
@@ -55,6 +56,11 @@ public class ShooterConstants {
double speed =
5.6939*hubDistMeters +
22.76545 + MODEL_TRIM.get();
// double speed =
// 0.00610938*hubDistMeters*hubDistMeters
// 5.65235*hubDistMeters +
// 22.82825;
double max = SHOOTER_MAX_VELOCITY.get();