Team_2648/2026-Robot-Code
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Work from build 2/28

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This commit is contained in:
Bradley Bickford
2026-02-28 17:42:37 -05:00
parent 7621cfd009
commit 3791333f56
12 changed files with 101 additions and 136 deletions
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54
src/main/java/frc/robot/constants/ShooterConstants.java
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@@ -9,7 +9,7 @@ import edu.wpi.first.math.util.Units;
public class ShooterConstants {
public enum ShooterSpeeds {
kHubSpeed(0),
kFeedSpeed(0);
kFeedSpeed(0.35);
private double speedMPS;
@@ -27,30 +27,28 @@ public class ShooterConstants {
public static final double kWheelDiameter = Units.inchesToMeters(4);
// TODO Real values
public static final int kLeftShooterMotor1CANID = 0;
public static final int kLeftShooterMotor2CANID = 0;
public static final int kRightShooterMotor1CANID = 0;
public static final int kRightShooterMotor2CANID = 0;
public static final int kLeftShooterMotorCANID = 2;
public static final int kRightShooterMotorCANID = 5;
public static final boolean kLeftShooterMotor1Inverted = false;
public static final boolean kLeftShooterMotor2Inverted = false;
public static final boolean kRightShooterMotor1Inverted = false;
public static final boolean kRightShooterMotor2Inverted = false;
public static final boolean kLeftShooterMotorInverted = true;
public static final boolean kRightShooterMotorInverted = false;
public static final double kLeftP = 0;
public static final double kLeftP = 0.1;
public static final double kLeftI = 0;
public static final double kLeftD = 0;
public static final double kLeftS = 0;
public static final double kLeftV = 0.21;
public static final double kLeftA = 0;
public static final double kRightP = 0;
public static final double kRightP = 0.1;
public static final double kRightI = 0;
public static final double kRightD = 0;
public static final double kRightS = 0;
public static final double kRightV = 0.21;
public static final double kRightA = 0;
public static final double kMaxManualSpeedMultiplier = 1;
public static final double kShooterHeightMeters = 0;
// TODO Is this value sane?
@@ -60,51 +58,37 @@ public class ShooterConstants {
// YOU SHOULDN'T NEED TO CHANGE ANYTHING BELOW THIS LINE UNLESS YOU'RE ADDING A CONFIGURATION ITEM
public static final SparkMaxConfig kLeftMotor1Config = new SparkMaxConfig();
public static final SparkMaxConfig kLeftMotor2Config = new SparkMaxConfig();
public static final SparkMaxConfig kRightMotor1Config = new SparkMaxConfig();
public static final SparkMaxConfig kRightMotor2Config = new SparkMaxConfig();
public static final SparkMaxConfig kLeftMotorConfig = new SparkMaxConfig();
public static final SparkMaxConfig kRightMotorConfig = new SparkMaxConfig();
static {
kLeftMotor1Config
kLeftMotorConfig
.idleMode(kShooterIdleMode)
.smartCurrentLimit(kCurrentLimit)
.inverted(kLeftShooterMotor1Inverted);
kLeftMotor1Config.absoluteEncoder
.inverted(kLeftShooterMotorInverted);
kLeftMotorConfig.absoluteEncoder
.positionConversionFactor(kWheelDiameter * Math.PI)
.velocityConversionFactor(kWheelDiameter * Math.PI / 60);
kLeftMotor1Config.closedLoop
kLeftMotorConfig.closedLoop
.feedbackSensor(FeedbackSensor.kAbsoluteEncoder)
.pid(kLeftP, kLeftI, kLeftD)
.outputRange(-1, 1)
.feedForward
.sva(kLeftS, kLeftV, kLeftA);
kLeftMotor2Config
kRightMotorConfig
.idleMode(kShooterIdleMode)
.smartCurrentLimit(kCurrentLimit)
.inverted(kLeftShooterMotor2Inverted)
.follow(kLeftShooterMotor1CANID);
kRightMotor1Config
.idleMode(kShooterIdleMode)
.smartCurrentLimit(kCurrentLimit)
.inverted(kRightShooterMotor1Inverted);
kRightMotor1Config.absoluteEncoder
.inverted(kRightShooterMotorInverted);
kRightMotorConfig.absoluteEncoder
.positionConversionFactor(kWheelDiameter * Math.PI)
.velocityConversionFactor(kWheelDiameter * Math.PI / 60);
kRightMotor1Config.closedLoop
kRightMotorConfig.closedLoop
.feedbackSensor(FeedbackSensor.kAbsoluteEncoder)
.pid(kRightP, kRightI, kRightD)
.outputRange(-1, 1)
.feedForward
.sva(kRightS, kRightV, kRightA);
kRightMotor2Config
.idleMode(kShooterIdleMode)
.smartCurrentLimit(kCurrentLimit)
.inverted(kRightShooterMotor2Inverted)
.follow(kRightShooterMotor1CANID);
}
}