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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50
src/main/java/frc/robot/subsystems/Shooter.java
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@@ -19,10 +19,8 @@ import frc.robot.constants.ShooterConstants;
import frc.robot.constants.ShooterConstants.ShooterSpeeds;
public class Shooter extends SubsystemBase {
private SparkMax leftMotor1;
private SparkMax leftMotor2;
private SparkMax rightMotor1;
private SparkMax rightMotor2;
private SparkMax leftMotor;
private SparkMax rightMotor;
private AbsoluteEncoder leftEncoder;
private AbsoluteEncoder rightEncoder;
@@ -33,40 +31,26 @@ public class Shooter extends SubsystemBase {
private ShooterSpeeds targetSpeeds;
public Shooter() {
leftMotor1 = new SparkMax(ShooterConstants.kLeftShooterMotor1CANID, MotorType.kBrushless);
leftMotor2 = new SparkMax(ShooterConstants.kLeftShooterMotor2CANID, MotorType.kBrushless);
rightMotor1 = new SparkMax(ShooterConstants.kRightShooterMotor1CANID, MotorType.kBrushless);
rightMotor2 = new SparkMax(ShooterConstants.kRightShooterMotor2CANID, MotorType.kBrushless);
leftMotor = new SparkMax(ShooterConstants.kLeftShooterMotorCANID, MotorType.kBrushless);
rightMotor = new SparkMax(ShooterConstants.kRightShooterMotorCANID, MotorType.kBrushless);
leftMotor1.configure(
ShooterConstants.kLeftMotor1Config,
leftMotor.configure(
ShooterConstants.kLeftMotorConfig,
ResetMode.kResetSafeParameters,
PersistMode.kPersistParameters
);
rightMotor1.configure(
ShooterConstants.kRightMotor1Config,
rightMotor.configure(
ShooterConstants.kRightMotorConfig,
ResetMode.kResetSafeParameters,
PersistMode.kPersistParameters
);
leftMotor2.configure(
ShooterConstants.kLeftMotor2Config,
ResetMode.kResetSafeParameters,
PersistMode.kPersistParameters
);
leftEncoder = leftMotor.getAbsoluteEncoder();
rightEncoder = rightMotor.getAbsoluteEncoder();
rightMotor2.configure(
ShooterConstants.kRightMotor2Config,
ResetMode.kResetSafeParameters,
PersistMode.kPersistParameters
);
leftEncoder = leftMotor1.getAbsoluteEncoder();
rightEncoder = rightMotor1.getAbsoluteEncoder();
leftClosedLoopController = leftMotor1.getClosedLoopController();
rightClosedLoopController = rightMotor1.getClosedLoopController();
leftClosedLoopController = leftMotor.getClosedLoopController();
rightClosedLoopController = rightMotor.getClosedLoopController();
// TODO Set this to the initial startup speed
targetSpeeds = null;
@@ -92,8 +76,8 @@ public class Shooter extends SubsystemBase {
return run(() -> {
if(targetSpeeds == null) {
leftMotor1.disable();
rightMotor1.disable();
leftMotor.disable();
rightMotor.disable();
} else {
leftClosedLoopController.setSetpoint(
targetSpeeds.getSpeedMPS(),
@@ -101,7 +85,7 @@ public class Shooter extends SubsystemBase {
);
rightClosedLoopController.setSetpoint(
targetSpeeds.getSpeedMPS(),
-targetSpeeds.getSpeedMPS(),
ControlType.kVelocity
);
}
@@ -112,8 +96,8 @@ public class Shooter extends SubsystemBase {
targetSpeeds = null;
return run(() -> {
leftMotor1.set(speed.getAsDouble());
rightMotor1.set(speed.getAsDouble());
leftMotor.set(speed.getAsDouble() * ShooterConstants.kMaxManualSpeedMultiplier);
rightMotor.set(speed.getAsDouble() * ShooterConstants.kMaxManualSpeedMultiplier);
});
}