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/constants/BuildConstants.java
+5 -5
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@@ -7,12 +7,12 @@ public final class BuildConstants {
public static final String MAVEN_GROUP = ""; public static final String MAVEN_GROUP = "";
public static final String MAVEN_NAME = "2026KPopRobotHunters"; public static final String MAVEN_NAME = "2026KPopRobotHunters";
public static final String VERSION = "unspecified"; public static final String VERSION = "unspecified";
public static final int GIT_REVISION = 51; public static final int GIT_REVISION = 52;
public static final String GIT_SHA = "abc3dc6b144dc783d0ceac8861e847d5f5f9741d"; public static final String GIT_SHA = "736d7ef8233e918aa0cc1cc3f06f2069517bed59";
public static final String GIT_DATE = "2026-02-14 12:50:09 MST"; public static final String GIT_DATE = "2026-02-14 13:49:33 MST";
public static final String GIT_BRANCH = "shoot-button"; public static final String GIT_BRANCH = "shoot-button";
public static final String BUILD_DATE = "2026-02-14 13:46:45 MST"; public static final String BUILD_DATE = "2026-02-14 14:55:59 MST";
public static final long BUILD_UNIX_TIME = 1771102005908L; public static final long BUILD_UNIX_TIME = 1771106159811L;
public static final int DIRTY = 1; public static final int DIRTY = 1;
private BuildConstants(){} private BuildConstants(){}
src/main/java/frc4388/robot/subsystems/LED.java
+1
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@@ -49,6 +49,7 @@ public class LED extends SubsystemBase implements Queryable {
} }
} }
@AutoLogOutput
public String getMode(){ public String getMode(){
return mode.name(); return mode.name();
} }
src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java
+2 -2
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@@ -34,7 +34,7 @@ public class IntakeConstants {
public static final ConfigurableDouble ARM_LIMIT_RETRACTED = new ConfigurableDouble("Arm angle retracted", -0.3*0); public static final ConfigurableDouble ARM_LIMIT_RETRACTED = new ConfigurableDouble("Arm angle retracted", -0.3*0);
public static final ConfigurableDouble ARM_LIMIT_EXTENDED = new ConfigurableDouble("Arm angle extended", 0); public static final ConfigurableDouble ARM_LIMIT_EXTENDED = new ConfigurableDouble("Arm angle extended", 0);
public static final ConfigurableDouble ROLLER_ACTIVE = new ConfigurableDouble("Rolelr Active", 10); public static final ConfigurableDouble ROLLER_ACTIVE = new ConfigurableDouble("Rolelr Active", 30);
// public static final ConfigurableDouble ROLL = new ConfigurableDouble("Arm angle extended", 0.25); // public static final ConfigurableDouble ROLL = new ConfigurableDouble("Arm angle extended", 0.25);
// public static final AngularVelocity ROLLER_MAX_VELOCITY = RotationsPerSecond.of(4.0); // public static final AngularVelocity ROLLER_MAX_VELOCITY = RotationsPerSecond.of(4.0);
@@ -51,7 +51,7 @@ public class IntakeConstants {
.withKI(0.0) .withKI(0.0)
.withKD(0.0); .withKD(0.0);
public static ConfigurableDouble arm_kP = new ConfigurableDouble("ARM KP", 0.2); public static ConfigurableDouble arm_kP = new ConfigurableDouble("ARM KP", 0.1);
public static ConfigurableDouble arm_kI = new ConfigurableDouble("ARM KI", 0); public static ConfigurableDouble arm_kI = new ConfigurableDouble("ARM KI", 0);
public static ConfigurableDouble arm_kD = new ConfigurableDouble("ARM KD", 0); public static ConfigurableDouble arm_kD = new ConfigurableDouble("ARM KD", 0);
src/main/java/frc4388/robot/subsystems/shooter/Shooter.java
+44 -43
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@@ -61,9 +61,9 @@ public class Shooter extends SubsystemBase {
private ShooterMode mode = ShooterMode.NotReady; private ShooterMode mode = ShooterMode.NotReady;
public void setShooterReady() { public void setShooterReady() {
// if(this.mode == ShooterMode.NotReady) { if(this.mode == ShooterMode.NotReady) {
this.mode = ShooterMode.Shooting; this.mode = ShooterMode.Ready;
// } }
} }
public void setShooterNotReady() { public void setShooterNotReady() {
@@ -100,52 +100,53 @@ public class Shooter extends SubsystemBase {
// TODO: get if the robot is within the angle of the hub // TODO: get if the robot is within the angle of the hub
// boolean driverError = boolean driverError = false;
// XYSpeed <= ShooterConstants.ROBOT_SPEED_TOLERANCE.get() | // XYSpeed <= ShooterConstants.ROBOT_SPEED_TOLERANCE.get() |
// AngSpeed <= ShooterConstants.ROBOT_ANG_SPEED_TOLERANCE.get() | // AngSpeed <= ShooterConstants.ROBOT_ANG_SPEED_TOLERANCE.get() |
// distanceToHub <= ShooterConstants.ROBOT_MIN_HUB.get() | // distanceToHub <= ShooterConstants.ROBOT_MIN_HUB.get() |
// distanceToHub >= ShooterConstants.ROBOT_MAX_HUB.get(); // distanceToHub >= ShooterConstants.ROBOT_MAX_HUB.get();
// double shooterSpeed = Math.abs(state.motor1Velocity.in(RotationsPerSecond) + state.motor2Velocity.in(RotationsPerSecond)) / 2; double shooterSpeed = Math.abs(state.motor1Velocity.in(RotationsPerSecond) + state.motor2Velocity.in(RotationsPerSecond)) / 2;
double shooterSpeedTarget = Math.abs(state.motor1TargetVelocity.in(RotationsPerSecond) + state.motor2TargetVelocity.in(RotationsPerSecond)) / 2;
// boolean badShooterVelocity = shooterSpeed < ShooterConstants.SHOOTER_SPEED_TOLERANCE.get(); boolean badShooterVelocity = Math.abs(shooterSpeed - shooterSpeedTarget) > ShooterConstants.SHOOTER_SPEED_TOLERANCE.get();
// boolean intakeBad = m_Intake.getMode() == IntakeMode.Extended; // boolean intakeBad = m_Intake.getMode() == IntxakeMode.Extended;
// int bitmask = (driverError ? 1 : 0) + (badShooterVelocity ? 2 : 0) + (intakeBad ? 4 : 0); int bitmask = (driverError ? 1 : 0) + (badShooterVelocity ? 2 : 0);// + (intakeBad ? 4 : 0);
// switch (bitmask) { switch (bitmask) {
// case 0b000: // No Errors case 0b000: // No Errors
// m_robotLED.setMode(Constants.LEDConstants.OPREADY); m_robotLED.setMode(Constants.LEDConstants.OPREADY);
// break; break;
// case 0b001: // No op err, yes driver err case 0b001: // No op err, yes driver err
// m_robotLED.setMode(Constants.LEDConstants.OPREADY_BADPHYS); m_robotLED.setMode(Constants.LEDConstants.OPREADY_BADPHYS);
// break; break;
// case 0b010: // Bad flywheel, no driver err case 0b010: // Bad flywheel, no driver err
// m_robotLED.setMode(Constants.LEDConstants.BAD_FLYWEEL); m_robotLED.setMode(Constants.LEDConstants.BAD_FLYWEEL);
// break; break;
// case 0b011: // Bad flywheel, yes driver err case 0b011: // Bad flywheel, yes driver err
// m_robotLED.setMode(Constants.LEDConstants.BAD_FLYWEEL_BADPHYS); m_robotLED.setMode(Constants.LEDConstants.BAD_FLYWEEL_BADPHYS);
// break; break;
// case 0b100: // Bad intake, no driver err case 0b100: // Bad intake, no driver err
// m_robotLED.setMode(Constants.LEDConstants.INTAKE_OUT); m_robotLED.setMode(Constants.LEDConstants.INTAKE_OUT);
// break; break;
// case 0b101: // Bad intake, yes driver err case 0b101: // Bad intake, yes driver err
// m_robotLED.setMode(Constants.LEDConstants.INTAKE_OUT_BADPHYS); m_robotLED.setMode(Constants.LEDConstants.INTAKE_OUT_BADPHYS);
// break; break;
// case 0b110: // Bad intake and shooter (intake is more important), no driver err case 0b110: // Bad intake and shooter (intake is more important), no driver err
// m_robotLED.setMode(Constants.LEDConstants.INTAKE_OUT); m_robotLED.setMode(Constants.LEDConstants.INTAKE_OUT);
// break; break;
// case 0b111: // Bad intake and shooter (intake is more important), yes driver err case 0b111: // Bad intake and shooter (intake is more important), yes driver err
// m_robotLED.setMode(Constants.LEDConstants.INTAKE_OUT_BADPHYS); m_robotLED.setMode(Constants.LEDConstants.INTAKE_OUT_BADPHYS);
// break; break;
// } }
// // We set the shooter mode to ready if there are no errors // // We set the shooter mode to ready if there are no errors
// mode = ( mode = (
// bitmask == 0 ? bitmask == 0 ?
// ShooterMode.Ready : ShooterMode.Shooting :
// ShooterMode.NotReady ShooterMode.Ready
// ); );
} }
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 { public class ShooterConstants {
// Motor conversions // Motor conversions
public static final double FEEDER_INCHES_PER_ROT = 1.; public static final double SHOOTERMOTOR_GEAR_RATIO = 1.5;
public static final double SHOOTERMOTOR1_GEAR_RATIO = 1.;
public static final double SHOOTERMOTOR2_GEAR_RATIO = 1.;
public static final double INDEXER_GEAR_RATIO = 1.; public static final double INDEXER_GEAR_RATIO = 1.;
// public static final AngularVelocity SHOOTER_ACTIVE_VELOCITY = RotationsPerSecond.of(30); // 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_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 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() public static Slot0Configs SHOOTER_PID = new Slot0Configs()
.withKV(0.0) .withKV(0.0)
.withKP(0.0) .withKP(0.0)
.withKI(0.0) .withKI(0.1)
.withKD(0.2); .withKD(0.08);
public static Slot0Configs INDEXER_PID = new Slot0Configs() public static Slot0Configs INDEXER_PID = new Slot0Configs()
.withKV(0.0) .withKV(0.0)
@@ -61,8 +59,8 @@ public class ShooterConstants {
public static ConfigurableDouble indexer_kI = new ConfigurableDouble("Indexer KI", 0); public static ConfigurableDouble indexer_kI = new ConfigurableDouble("Indexer KI", 0);
public static ConfigurableDouble indexer_kD = new ConfigurableDouble("Indexer KD", 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_kP = new ConfigurableDouble("Shooter KP", 0.08);
public static ConfigurableDouble shooter_kI = new ConfigurableDouble("Shooter KI", 0); public static ConfigurableDouble shooter_kI = new ConfigurableDouble("Shooter KI", 0.1);
public static ConfigurableDouble shooter_kD = new ConfigurableDouble("Shooter KD", 0); public static ConfigurableDouble shooter_kD = new ConfigurableDouble("Shooter KD", 0);
// Limits // Limits
src/main/java/frc4388/robot/subsystems/shooter/ShooterReal.java
+3 -3
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@@ -49,7 +49,7 @@ public class ShooterReal implements ShooterIO {
return; return;
} }
AngularVelocity motorRps = target.times(ShooterConstants.INDEXER_GEAR_RATIO); AngularVelocity motorRps = target.times(ShooterConstants.SHOOTERMOTOR_GEAR_RATIO);
m_shooter1Motor.setControl(shooter1Velocity.withVelocity(motorRps)); m_shooter1Motor.setControl(shooter1Velocity.withVelocity(motorRps));
m_shooter2Motor.setControl(shooter2Velocity.withVelocity(motorRps)); m_shooter2Motor.setControl(shooter2Velocity.withVelocity(motorRps));
@@ -72,8 +72,8 @@ public class ShooterReal implements ShooterIO {
@Override @Override
public void updateInputs(ShooterState state) { public void updateInputs(ShooterState state) {
state.motor1Velocity = m_shooter1Motor.getVelocity().getValue().div(ShooterConstants.SHOOTERMOTOR1_GEAR_RATIO); state.motor1Velocity = m_shooter1Motor.getVelocity().getValue().div(ShooterConstants.SHOOTERMOTOR_GEAR_RATIO);
state.motor2Velocity = m_shooter2Motor.getVelocity().getValue().div(ShooterConstants.SHOOTERMOTOR2_GEAR_RATIO); state.motor2Velocity = m_shooter2Motor.getVelocity().getValue().div(ShooterConstants.SHOOTERMOTOR_GEAR_RATIO);
state.indexerVelocity = m_indexerMotor.getVelocity().getValue().div(ShooterConstants.INDEXER_GEAR_RATIO); state.indexerVelocity = m_indexerMotor.getVelocity().getValue().div(ShooterConstants.INDEXER_GEAR_RATIO);
// state.motorLinearVelocity = InchesPerSecond.of(m_shooter1Motor.getVelocity().getValue().in(RotationsPerSecond) * ShooterConstants.FEEDER_INCHES_PER_ROT); // state.motorLinearVelocity = InchesPerSecond.of(m_shooter1Motor.getVelocity().getValue().in(RotationsPerSecond) * ShooterConstants.FEEDER_INCHES_PER_ROT);