Team4388/2026KPopRobotHunters
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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
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@@ -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: