Team4388/2026KPopRobotHunters
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pike ready

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This commit is contained in:
Shikhar
2026-03-06 10:57:47 -07:00
parent c2f16a5117
commit d5ff90c1aa
4 changed files with 14 additions and 10 deletions
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src/main/deploy/pathplanner/paths/HubRight-PlayerStation.path
+3 -3
View File
@@ -62,8 +62,8 @@
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxAngularVelocity": 500.0,
"maxAngularAcceleration": 700.0,
"maxAngularVelocity": 600.0,
"maxAngularAcceleration": 750.0,
"nominalVoltage": 12.0,
"unlimited": false
},
@@ -77,5 +77,5 @@
"velocity": 0,
"rotation": 0.0
},
"useDefaultConstraints": false
"useDefaultConstraints": true
}
src/main/deploy/pathplanner/paths/PlayerStation-Shoot.path
+2 -2
View File
@@ -73,7 +73,7 @@
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxAngularVelocity": 600.0,
"maxAngularAcceleration": 770.0,
"maxAngularAcceleration": 750.0,
"nominalVoltage": 12.0,
"unlimited": false
},
@@ -87,5 +87,5 @@
"velocity": 0,
"rotation": -90.0
},
"useDefaultConstraints": false
"useDefaultConstraints": true
}
src/main/java/frc4388/robot/subsystems/shooter/Shooter.java
+7 -4
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@@ -2,6 +2,7 @@ package frc4388.robot.subsystems.shooter;
import static edu.wpi.first.units.Units.Amps;
import static edu.wpi.first.units.Units.Rotation;
import static edu.wpi.first.units.Units.Rotations;
import static edu.wpi.first.units.Units.RotationsPerSecond;
import org.littletonrobotics.junction.AutoLogOutput;
@@ -56,7 +57,7 @@ public class Shooter extends SubsystemBase {
public enum ShooterMode {
Shooting,
Feeding,
ManualShoot,
Idle
}
@@ -68,7 +69,7 @@ public class Shooter extends SubsystemBase {
}
public void spinUpFeeding() {
this.mode = ShooterMode.Feeding;
this.mode = ShooterMode.ManualShoot;
}
public void spinUpIdle() {
@@ -183,8 +184,8 @@ public class Shooter extends SubsystemBase {
break;
}
break;
case Feeding:
io.setShooterVelocity(state, RotationsPerSecond.of(ShooterConstants.SHOOTER_FEED_VELOCITY.get()));
case ManualShoot:
io.setShooterVelocity(state, RotationsPerSecond.of(ShooterConstants.SHOOTER_OVERRIDE_VELOCITY.get()));
int bitmask2 = (
(shooterButtonReady ? 1 : 0) +
@@ -233,6 +234,8 @@ public class Shooter extends SubsystemBase {
io.setIndexerOutput(state, ShooterConstants.INDEXER_REVERSE_OUTPUT.get());
m_robotLED.setMode(Constants.LEDConstants.DEFAULT_PATTERN);
break;
}
}
src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java
+2 -1
View File
@@ -19,7 +19,8 @@ public class ShooterConstants {
public static final double INDEXER_GEAR_RATIO = 1.;
public static final ConfigurableDouble SHOOTER_MAX_VELOCITY = new ConfigurableDouble("Shooter MAX Velocity", 60);
public static final ConfigurableDouble SHOOTER_FEED_VELOCITY = new ConfigurableDouble("Shooter Feed Velocity", -35);
public static final ConfigurableDouble SHOOTER_OVERRIDE_VELOCITY = new ConfigurableDouble("Shooter OVERRIDE Velocity", -40.25);
// public static final ConfigurableDouble SHOOTER_FEED_VELOCITY = new ConfigurableDouble("Shooter Feed Velocity", -35);
// public static final ConfigurableDouble SHOOTER_RESTING_VELOCITY = new ConfigurableDouble("Shooter Resting Velocity", 0.0);
public static final ConfigurableDouble SHOOTER_IDLE_PERCENT_OUTPUT = new ConfigurableDouble("Shooter idle % output", -0.15);