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SHOOTER WORKS SEMI MANUAL

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This commit is contained in:
ryan123rudder
2020-03-03 20:59:00 -07:00
parent b8a6e59fac
commit 2f6b219303
14 changed files with 71 additions and 47 deletions
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src/main/java/frc4388/robot/subsystems/Shooter.java
+10 -2
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@@ -47,12 +47,14 @@ public class Shooter extends SubsystemBase {
//Testing purposes reseting gyros
//resetGyroAngleAdj();
shooterTrims = new Trims(0, 0);
//SmartDashboard.putNumber("Velocity Target", 10000);
//SmartDashboard.putNumber("Angle Target", 3);
m_shooterFalcon.configFactoryDefault();
m_shooterFalcon.setNeutralMode(NeutralMode.Coast);
m_shooterFalcon.setInverted(true);
m_shooterFalcon.configOpenloopRamp(1, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalcon.configClosedloopRamp(1, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalcon.configClosedloopRamp(1.0, ShooterConstants.SHOOTER_TIMEOUT_MS);
setShooterGains();
m_shooterFalcon.configPeakOutputReverse(0, ShooterConstants.SHOOTER_TIMEOUT_MS);
@@ -64,6 +66,8 @@ public class Shooter extends SubsystemBase {
m_shooterTable = new ShooterTables();
m_shooterFalcon.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG, ShooterConstants.SHOOTER_TIMEOUT_MS);
//SmartDashboard.putNumber("CSV 10", m_shooterTable.getVelocity(10));
//SmartDashboard.putNumber("CSV 200", m_shooterTable.getVelocity(200));
//SmartDashboard.putNumber("CSV 250", m_shooterTable.getVelocity(250));
@@ -83,6 +87,10 @@ public class Shooter extends SubsystemBase {
SmartDashboard.putNumber("Drum Velocity CSV", m_fireVel);
SmartDashboard.putNumber("Shooter Temp C", m_shooterFalcon.getTemperature());
SmartDashboard.putNumber("Shooter Current", m_shooterFalcon.getSupplyCurrent());
//SmartDashboard.putNumber("Hood Position", m_shooter.getAnglePosition());
}
@@ -129,7 +137,7 @@ public class Shooter extends SubsystemBase {
* @param targetVel Target velocity to run motor at
*/
public void runDrumShooterVelocityPID(double targetVel) {
System.out.println("Target Velocity" + targetVel);
//System.out.println("Target Velocity" + targetVel);
m_shooterFalcon.set(TalonFXControlMode.Velocity, targetVel); //Init PID
}
}
src/main/java/frc4388/robot/subsystems/ShooterAim.java
+2
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@@ -50,6 +50,8 @@ public class ShooterAim extends SubsystemBase {
m_shooterRotateMotor.enableSoftLimit(SoftLimitDirection.kReverse, true);
m_shooterRotateMotor.setSoftLimit(SoftLimitDirection.kForward, ShooterConstants.TURRET_RIGHT_SOFT_LIMIT);
m_shooterRotateMotor.setSoftLimit(SoftLimitDirection.kReverse, ShooterConstants.TURRET_LEFT_SOFT_LIMIT);
m_shooterRotateMotor.setInverted(false);
}
@Override
src/main/java/frc4388/robot/subsystems/ShooterHood.java
+4 -4
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@@ -48,10 +48,10 @@ public class ShooterHood extends SubsystemBase {
m_hoodUpLimit.enableLimitSwitch(true);
m_hoodDownLimit.enableLimitSwitch(true);
m_angleAdjustMotor.enableSoftLimit(SoftLimitDirection.kForward, true);
m_angleAdjustMotor.enableSoftLimit(SoftLimitDirection.kReverse, true);
m_angleAdjustMotor.setSoftLimit(SoftLimitDirection.kForward, ShooterConstants.HOOD_UP_SOFT_LIMIT);
m_angleAdjustMotor.setSoftLimit(SoftLimitDirection.kReverse, ShooterConstants.HOOD_DOWN_SOFT_LIMIT);
//m_angleAdjustMotor.enableSoftLimit(SoftLimitDirection.kForward, true);
//m_angleAdjustMotor.enableSoftLimit(SoftLimitDirection.kReverse, true);
//m_angleAdjustMotor.setSoftLimit(SoftLimitDirection.kForward, ShooterConstants.HOOD_UP_SOFT_LIMIT);
//m_angleAdjustMotor.setSoftLimit(SoftLimitDirection.kReverse, ShooterConstants.HOOD_DOWN_SOFT_LIMIT);
}
@Override