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Tweaked shooter offset model and new progress with X position
This commit is contained in:
mimigamin
2026-03-14 18:29:15 -06:00
parent 07ec609b01
commit ebab028818
11 changed files with 87 additions and 35 deletions
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src/main/java/frc4388/robot/subsystems/shooter/Shooter.java
+3 -2
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@@ -89,8 +89,9 @@ public class Shooter extends SubsystemBase {
shooterButtonReady = false;
}
public AngularVelocity getBallVelocity() {
return RotationsPerSecond.of((state.motor1Velocity.in(RotationsPerSecond) + state.indexerVelocity.in(RotationsPerSecond)));
public double getBallVelocity() {
return Math.abs(state.motor1TargetVelocity.in(RotationsPerSecond)) * ShooterConstants.SHOOTER_RADIUS * 2 * Math.PI;
//Math.abs(state.indexerForwardVelocity.in(RotationsPerSecond))*ShooterConstants.INDEXER_RADIUS)
}
@AutoLogOutput
src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java
+2 -1
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@@ -18,7 +18,8 @@ public class ShooterConstants {
public static final double SHOOTERMOTOR_GEAR_RATIO = 1.5;
public static final double INDEXER_GEAR_RATIO = 1.;
public static final double T_CONSTANT = 2;
public static final double SHOOTER_RADIUS = 2/39.37;
public static final double INDEXER_RADIUS = 0.625/39.37;
public static final ConfigurableDouble SHOOTER_MAX_VELOCITY = new ConfigurableDouble("Shooter MAX Velocity", 60);
public static final ConfigurableDouble SHOOTER_OVERRIDE_VELOCITY = new ConfigurableDouble("Shooter OVERRIDE Velocity", -42);
// public static final ConfigurableDouble SHOOTER_FEED_VELOCITY = new ConfigurableDouble("Shooter Feed Velocity", -35);
src/main/java/frc4388/robot/subsystems/shooter/ShooterIO.java
+1 -1
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@@ -26,7 +26,7 @@ public interface ShooterIO {
AngularVelocity motor1Velocity = RotationsPerSecond.of(0);
AngularVelocity motor2Velocity = RotationsPerSecond.of(0);
AngularVelocity indexerVelocity = RotationsPerSecond.of(0);
AngularVelocity indexerForwardVelocity = RotationsPerSecond.of(42.53); //guestimate
double indexerOutput = 0;
Current motor1Current = Amps.of(0);
src/main/java/frc4388/robot/subsystems/shooter/ShooterReal.java
+3 -1
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@@ -87,6 +87,9 @@ public class ShooterReal implements ShooterIO {
public void setIndexerOutput(ShooterState state, double percentOutput) {
state.indexerTargetOutput = percentOutput;
m_indexerMotor.set(percentOutput);
if (state.indexerTargetOutput - state.indexerOutput > 0.05){
state.indexerForwardVelocity = m_indexerMotor.getVelocity().getValue().div(ShooterConstants.INDEXER_GEAR_RATIO);
}
}
@@ -95,7 +98,6 @@ public class ShooterReal implements ShooterIO {
state.motor1Velocity = m_shooter1Motor.getVelocity().getValue().div(ShooterConstants.SHOOTERMOTOR_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.indexerOutput = m_indexerMotor.get();
// state.indexerOutput = m_indexerMotor.getVelocity().getValue().div(ShooterConstants.INDEXER_GEAR_RATIO);