Team4388/2026KPopRobotHunters
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Improve PIDs and such

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This commit is contained in:
Michael Mikovsky
2026-02-21 12:54:16 -08:00
parent 9c7159ba3b
commit eec454e99a
11 changed files with 95 additions and 60 deletions
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src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java
+14 -9
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@@ -18,7 +18,7 @@ public class ShooterConstants {
public static final double SHOOTERMOTOR_GEAR_RATIO = 1.5;
public static final double INDEXER_GEAR_RATIO = 1.;
public static final ConfigurableDouble SHOOTER_ACTIVE_VELOCITY = new ConfigurableDouble("Shooter Active Velocity", -40);
// public static final ConfigurableDouble SHOOTER_ACTIVE_VELOCITY = new ConfigurableDouble("Shooter Active Velocity", -40);
public static final ConfigurableDouble SHOOTER_MAX_VELOCITY = new ConfigurableDouble("Shooter MAX Velocity", 60);
public static final ConfigurableDouble SHOOTER_RESTING_VELOCITY = new ConfigurableDouble("Shooter Resting Velocity", 0.0);
@@ -28,23 +28,26 @@ public class ShooterConstants {
public static final ConfigurableDouble AIM_LEAD_TIME = new ConfigurableDouble("Aim lead time", 0);
// Shoot mode tolerances
public static final ConfigurableDouble ROBOT_MIN_HUB = new ConfigurableDouble("Shoot min dist M", 0);
public static final ConfigurableDouble ROBOT_MAX_HUB = new ConfigurableDouble("Shoot max dist M", 99);
public static final ConfigurableDouble ROBOT_MIN_HUB = new ConfigurableDouble("Shoot min dist M", 1.8);
public static final ConfigurableDouble ROBOT_MAX_HUB = new ConfigurableDouble("Shoot max dist M", 4.8);
public static final ConfigurableDouble ROBOT_ANG_TOLERANCE = new ConfigurableDouble("Ang tolerance DEG", 360);
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", 5);
public static final ConfigurableDouble SHOOTER_SPEED_TOLERANCE = new ConfigurableDouble("Shooter speed tolerance RPS", 3);
//
public static AngularVelocity getTargetShooterSpeed(double hubDistMeters) {
// Model derived from points
// double speed =
// 1.11576*hubDistMeters*hubDistMeters +
// 0.318464*hubDistMeters +
// 30.6293;
double speed =
1.11576*hubDistMeters*hubDistMeters +
0.318464*hubDistMeters +
30.6293;
5.6939*hubDistMeters +
22.76545;
double max = SHOOTER_MAX_VELOCITY.get();
@@ -54,6 +57,8 @@ public class ShooterConstants {
} else if(speed < -max) {
speed = -max;
}
// double speed = SHOOTER_MAX_VELOCITY.get();
return RotationsPerSecond.of(-speed);
}
@@ -62,7 +67,7 @@ public class ShooterConstants {
public static Slot0Configs SHOOTER_PID = new Slot0Configs()
.withKV(0.0)
.withKP(0.08)
.withKI(0.1)
.withKI(0.15)
.withKD(0.0);
@@ -71,7 +76,7 @@ public class ShooterConstants {
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_kI = new ConfigurableDouble("Shooter KI", 0.15);
public static ConfigurableDouble shooter_kD = new ConfigurableDouble("Shooter KD", 0);