Team_2648/2026-Robot-Code
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shooter units off

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This commit is contained in:
Tylr-J42
2026-03-01 13:58:39 -05:00
parent 3791333f56
commit 866e6b99df
2 changed files with 25 additions and 18 deletions
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31
src/main/java/frc/robot/constants/ShooterConstants.java
View File

@@ -8,17 +8,23 @@ import edu.wpi.first.math.util.Units;
public class ShooterConstants {
public enum ShooterSpeeds {
kHubSpeed(0),
kFeedSpeed(0.35);
kHubSpeed(4000.0),
kFeedSpeed(6000.0);
private double speedMPS;
private double speedRPM;
private ShooterSpeeds(double speedMPS) {
this.speedMPS = speedMPS;
private ShooterSpeeds(double speedRPM) {
this.speedMPS = speedRPM * kWheelDiameter*Math.PI;
this.speedRPM = speedRPM;
}
public double getSpeedMPS() {
return speedMPS;
return speedMPS * kWheelDiameter*Math.PI;
}
public double getSpeedRPM(){
return speedRPM;
}
}
@@ -31,16 +37,16 @@ public class ShooterConstants {
public static final int kRightShooterMotorCANID = 5;
public static final boolean kLeftShooterMotorInverted = true;
public static final boolean kRightShooterMotorInverted = false;
public static final boolean kRightShooterMotorInverted = true;
public static final double kLeftP = 0.1;
public static final double kLeftP = 0;//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 = 0.1;
public static final double kRightP = 0;//0.1;
public static final double kRightI = 0;
public static final double kRightD = 0;
public static final double kRightS = 0;
@@ -68,8 +74,8 @@ public class ShooterConstants {
.smartCurrentLimit(kCurrentLimit)
.inverted(kLeftShooterMotorInverted);
kLeftMotorConfig.absoluteEncoder
.positionConversionFactor(kWheelDiameter * Math.PI)
.velocityConversionFactor(kWheelDiameter * Math.PI / 60);
.positionConversionFactor(1)
.velocityConversionFactor(1);
kLeftMotorConfig.closedLoop
.feedbackSensor(FeedbackSensor.kAbsoluteEncoder)
.pid(kLeftP, kLeftI, kLeftD)
@@ -82,8 +88,9 @@ public class ShooterConstants {
.smartCurrentLimit(kCurrentLimit)
.inverted(kRightShooterMotorInverted);
kRightMotorConfig.absoluteEncoder
.positionConversionFactor(kWheelDiameter * Math.PI)
.velocityConversionFactor(kWheelDiameter * Math.PI / 60);
.positionConversionFactor(1)
.velocityConversionFactor(1)
.inverted(true);
kRightMotorConfig.closedLoop
.feedbackSensor(FeedbackSensor.kAbsoluteEncoder)
.pid(kRightP, kRightI, kRightD)

12
src/main/java/frc/robot/subsystems/Shooter.java
View File

@@ -59,12 +59,12 @@ public class Shooter extends SubsystemBase {
@Override
public void periodic() {
Logger.recordOutput(
"Shooter/TargetMPS",
targetSpeeds == null ? 0 : targetSpeeds.getSpeedMPS()
"Shooter/TargetRPM",
targetSpeeds == null ? 0 : targetSpeeds.getSpeedRPM()
);
Logger.recordOutput("Shooter/LeftRollers/CurrentMPS", leftEncoder.getVelocity());
Logger.recordOutput("Shooter/RightRollers/CurrentMPS", rightEncoder.getVelocity());
Logger.recordOutput("Shooter/LeftRollers/CurrentRPM", leftEncoder.getVelocity());
Logger.recordOutput("Shooter/RightRollers/CurrentRPM", rightEncoder.getVelocity());
// TODO How does the SparkMAX controller determine "at setpoint"? Is there any tolerance?
Logger.recordOutput("Shooter/LeftRollers/AtSetpoint", leftClosedLoopController.isAtSetpoint());
@@ -80,12 +80,12 @@ public class Shooter extends SubsystemBase {
rightMotor.disable();
} else {
leftClosedLoopController.setSetpoint(
targetSpeeds.getSpeedMPS(),
targetSpeeds.getSpeedRPM(),
ControlType.kVelocity
);
rightClosedLoopController.setSetpoint(
-targetSpeeds.getSpeedMPS(),
-targetSpeeds.getSpeedRPM(),
ControlType.kVelocity
);
}