Team4388/2026KPopRobotHunters
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Fix shooter

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This commit is contained in:
Michael Mikovsky
2026-02-14 14:03:32 -08:00
parent 736d7ef823
commit da6f9b50b5
6 changed files with 61 additions and 61 deletions
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src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java
+6 -8
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@@ -12,9 +12,7 @@ import frc4388.utility.status.CanDevice;
public class ShooterConstants {
// Motor conversions
public static final double FEEDER_INCHES_PER_ROT = 1.;
public static final double SHOOTERMOTOR1_GEAR_RATIO = 1.;
public static final double SHOOTERMOTOR2_GEAR_RATIO = 1.;
public static final double SHOOTERMOTOR_GEAR_RATIO = 1.5;
public static final double INDEXER_GEAR_RATIO = 1.;
// public static final AngularVelocity SHOOTER_ACTIVE_VELOCITY = RotationsPerSecond.of(30);
@@ -40,15 +38,15 @@ public class ShooterConstants {
public static final ConfigurableDouble ROBOT_SPEED_TOLERANCE = new ConfigurableDouble("Speed tolerance MS", 1);
public static final ConfigurableDouble ROBOT_ANG_SPEED_TOLERANCE = new ConfigurableDouble("Shoot Ang speed tolerance DEG", 3);
public static final ConfigurableDouble SHOOTER_SPEED_TOLERANCE = new ConfigurableDouble("Shooter speed tolerance RPS", 1);
public static final ConfigurableDouble SHOOTER_SPEED_TOLERANCE = new ConfigurableDouble("Shooter speed tolerance RPS", 5);
public static Slot0Configs SHOOTER_PID = new Slot0Configs()
.withKV(0.0)
.withKP(0.0)
.withKI(0.0)
.withKD(0.2);
.withKI(0.1)
.withKD(0.08);
public static Slot0Configs INDEXER_PID = new Slot0Configs()
.withKV(0.0)
@@ -61,8 +59,8 @@ public class ShooterConstants {
public static ConfigurableDouble indexer_kI = new ConfigurableDouble("Indexer KI", 0);
public static ConfigurableDouble indexer_kD = new ConfigurableDouble("Indexer KD", 0);
public static ConfigurableDouble shooter_kP = new ConfigurableDouble("Shooter KP", 0.2);
public static ConfigurableDouble shooter_kI = new ConfigurableDouble("Shooter KI", 0);
public static ConfigurableDouble shooter_kP = new ConfigurableDouble("Shooter KP", 0.08);
public static ConfigurableDouble shooter_kI = new ConfigurableDouble("Shooter KI", 0.1);
public static ConfigurableDouble shooter_kD = new ConfigurableDouble("Shooter KD", 0);
// Limits