Team4388/2026KPopRobotHunters
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Add feeder button

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This commit is contained in:
Michael Mikovsky
2026-02-23 16:58:14 -07:00
parent 389bc7c873
commit ff0cff819c
4 changed files with 63 additions and 23 deletions
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src/main/java/frc4388/robot/subsystems/shooter/Shooter.java
+45 -22
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@@ -1,5 +1,6 @@
package frc4388.robot.subsystems.shooter;
import static edu.wpi.first.units.Units.Rotation;
import static edu.wpi.first.units.Units.RotationsPerSecond;
import org.littletonrobotics.junction.AutoLogOutput;
@@ -53,6 +54,10 @@ public class Shooter extends SubsystemBase {
Shooting,
// Shooter is going to fire soon
Ready,
ShootingFeeder,
ReadyFeeder,
// Not ready to shoot
NotReady,
}
@@ -61,20 +66,22 @@ public class Shooter extends SubsystemBase {
private boolean shooterButtonReady = false;
public void setShooterReady() {
if(this.mode == ShooterMode.NotReady) {
this.mode = ShooterMode.Ready;
}
this.mode = ShooterMode.Ready;
}
public void setShooterReadyFeeder() {
this.mode = ShooterMode.ReadyFeeder;
}
public void setShooterNotReady() {
this.mode = ShooterMode.NotReady;
}
public void setShooterShoot() {
shooterButtonReady = true;
}
public void setShooterNOTShoot() {
shooterButtonReady = false;
}
@@ -119,8 +126,8 @@ public class Shooter extends SubsystemBase {
boolean badShooterVelocity = Math.abs(shooterSpeed - shooterSpeedTarget) > ShooterConstants.SHOOTER_SPEED_TOLERANCE.get();
// 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) + (this.mode == ShooterMode.ReadyFeeder ? 4 : 0);
switch (bitmask) {
case 0b000: // No Errors
m_robotLED.setMode(Constants.LEDConstants.OPREADY);
@@ -128,24 +135,23 @@ public class Shooter extends SubsystemBase {
case 0b001: // No op err, yes driver err
m_robotLED.setMode(Constants.LEDConstants.OPREADY_BADPHYS);
break;
case 0b010: // Bad flywheel, no driver err
case 0b010:
case 0b110: // Bad flywheel, no driver err
m_robotLED.setMode(Constants.LEDConstants.BAD_FLYWEEL);
break;
case 0b011: // Bad flywheel, yes driver err
case 0b011:
case 0b111: // Bad flywheel, yes driver err
m_robotLED.setMode(Constants.LEDConstants.BAD_FLYWEEL_BADPHYS);
break;
// case 0b100: // Bad intake, no driver err
// m_robotLED.setMode(Constants.LEDConstants.INTAKE_OUT);
// break;
// case 0b101: // Bad intake, yes driver err
// m_robotLED.setMode(Constants.LEDConstants.INTAKE_OUT_BADPHYS);
// break;
// case 0b110: // Bad intake and shooter (intake is more important), no driver err
// m_robotLED.setMode(Constants.LEDConstants.INTAKE_OUT);
// break;
// case 0b111: // Bad intake and shooter (intake is more important), yes driver err
// m_robotLED.setMode(Constants.LEDConstants.INTAKE_OUT_BADPHYS);
// break;
case 0b100:
m_robotLED.setMode(Constants.LEDConstants.OPREADY_FEED);
break;
case 0b101:
m_robotLED.setMode(Constants.LEDConstants.OPREADY_FEED_BADPHYS);
break;
}
// // We set the shooter mode to ready if there are no errors
@@ -165,18 +171,35 @@ public class Shooter extends SubsystemBase {
switch (mode) {
case Shooting:
io.setShooterVelocity(state, ShooterConstants.getTargetShooterSpeed(distanceToHub));
if(shooterButtonReady) {
io.setShooterVelocity(state, ShooterConstants.getTargetShooterSpeed(distanceToHub));
io.setIndexerOutput(state, ShooterConstants.INDEXER_FORWARD_OUTPUT.get());
} else {
io.setShooterVelocity(state, ShooterConstants.getTargetShooterSpeed(distanceToHub));
io.setIndexerOutput(state, ShooterConstants.INDEXER_REVERSE_OUTPUT.get());
}
break;
case Ready:
io.setShooterVelocity(state, ShooterConstants.getTargetShooterSpeed(distanceToHub));
io.setIndexerOutput(state, ShooterConstants.INDEXER_REVERSE_OUTPUT.get());
break;
case ShootingFeeder:
io.setShooterVelocity(state, RotationsPerSecond.of(ShooterConstants.SHOOTER_FEED_VELOCITY.get()));
if(shooterButtonReady) {
io.setIndexerOutput(state, ShooterConstants.INDEXER_FORWARD_OUTPUT.get());
} else {
io.setIndexerOutput(state, ShooterConstants.INDEXER_REVERSE_OUTPUT.get());
}
break;
case ReadyFeeder:
io.setShooterVelocity(state, ShooterConstants.getTargetShooterSpeed(distanceToHub));
io.setIndexerOutput(state, ShooterConstants.INDEXER_REVERSE_OUTPUT.get());
break;
case NotReady:
io.setShooterVelocity(state, RotationsPerSecond.of(ShooterConstants.SHOOTER_RESTING_VELOCITY.get()));
io.setIndexerOutput(state, ShooterConstants.INDEXER_REVERSE_OUTPUT.get());