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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
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@@ -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) +