Team4388/2026KPopRobotHunters
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Implement shooting while moving vertically

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This commit is contained in:
mimigamin
2026-03-19 15:28:01 -06:00
parent 73c3849569
commit d1055a4f27
5 changed files with 141 additions and 70 deletions
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src/main/java/frc4388/robot/subsystems/shooter/Shooter.java
+6 -3
View File
@@ -33,6 +33,8 @@ public class Shooter extends SubsystemBase {
public boolean badShooterVelocity;
public double distanceToHub = 5;
public double chassisXSpeed = 0;
public Shooter(
ShooterIO io,
@@ -66,7 +68,8 @@ public class Shooter extends SubsystemBase {
private ShooterMode mode = ShooterMode.Idle;
private boolean shooterButtonReady = false;
public void spinUpShooting() {
public void spinUpShooting(double chassisXSpeed) {
this.chassisXSpeed = chassisXSpeed;
this.mode = ShooterMode.Shooting;
}
@@ -157,14 +160,14 @@ public class Shooter extends SubsystemBase {
//revtime calculations
// double shooterAcceleration =
double shooterSpeedTargetPretend = ShooterConstants.getTargetShooterSpeed(distanceToHub).in(RotationsPerSecond);
double shooterSpeedTargetPretend = ShooterConstants.getTargetShooterSpeed(distanceToHub,chassisXSpeed).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:
io.setShooterVelocity(state, ShooterConstants.getTargetShooterSpeed(distanceToHub));
io.setShooterVelocity(state, ShooterConstants.getTargetShooterSpeed(distanceToHub, chassisXSpeed));
int bitmask = (
(shooterButtonReady ? 1 : 0) +
src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java
+20 -6
View File
@@ -36,7 +36,8 @@ public class ShooterConstants {
public static final ConfigurableDouble AIM_LEAD_TIME = new ConfigurableDouble("Aim lead time", 0);
public static final ConfigurableDouble CHASSIS_POS_OFFSET = new ConfigurableDouble("Chassis positive speed offset", 1.0);
public static final ConfigurableDouble CHASSIS_NEG_OFFSET = new ConfigurableDouble("Chassis negative speed offset", 1.0);
// Shoot mode tolerances
public static final ConfigurableDouble ROBOT_MIN_HUB = new ConfigurableDouble("Shoot min dist M", 1.8);
public static final ConfigurableDouble ROBOT_MAX_HUB = new ConfigurableDouble("Shoot max dist M", 4.8);
@@ -49,16 +50,29 @@ public class ShooterConstants {
public static final ConfigurableDouble SHOOTER_SPEED_TOLERANCE = new ConfigurableDouble("Shooter speed tolerance RPS", 3);
//
public static AngularVelocity getTargetShooterSpeed(double hubDistMeters) {
public static AngularVelocity getTargetShooterSpeed(double hubDistMeters, double chassisXSpeed) {
// Model derived from points
// double speed =
// 1.11576*hubDistMeters*hubDistMeters +
// 0.318464*hubDistMeters +
// 30.6293;
double speed =
double speed;
if (Math.abs(chassisXSpeed) < 0.1) {
speed =
0.0593402*hubDistMeters*hubDistMeters +
4.90561*hubDistMeters +
30.35696 + MODEL_TRIM.get();
} else if (chassisXSpeed > 0) { // positive = further from hub
speed =
0.0593402*hubDistMeters*hubDistMeters +
4.90561*hubDistMeters +
30.35696 + (chassisXSpeed * CHASSIS_POS_OFFSET.get()) + MODEL_TRIM.get();
} else { // negative = moving towards hub
speed =
0.0593402*hubDistMeters*hubDistMeters +
4.90561*hubDistMeters +
30.35696 + (chassisXSpeed * CHASSIS_NEG_OFFSET.get()) + MODEL_TRIM.get();
}
// double speed =
// 0.00610938*hubDistMeters*hubDistMeters
@@ -82,8 +96,8 @@ public class ShooterConstants {
// Motor Configuration
public static Slot0Configs SHOOTER_PID = new Slot0Configs()
.withKV(0.0)
.withKP(0.05)
.withKI(0.20)
.withKP(0.02)
.withKI(0.15)
.withKD(0.0);
@@ -91,7 +105,7 @@ public class ShooterConstants {
public static ConfigurableDouble shooter_kP = new ConfigurableDouble("Shooter KP", 0.08);
public static ConfigurableDouble shooter_kP = new ConfigurableDouble("Shooter KP", 0.02);
public static ConfigurableDouble shooter_kI = new ConfigurableDouble("Shooter KI", 0.15);
public static ConfigurableDouble shooter_kD = new ConfigurableDouble("Shooter KD", 0);