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IntakePivot and Shooter changes to make me hate them less, other minor fixes

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This commit is contained in:
Bradley Bickford
2026-02-07 07:17:55 -05:00
parent faff80fb9a
commit b68d7b7399
4 changed files with 46 additions and 60 deletions
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63
src/main/java/frc/robot/subsystems/Shooter.java
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@@ -29,7 +29,7 @@ public class Shooter extends SubsystemBase {
private SparkClosedLoopController frontClosedLoopController;
private SparkClosedLoopController rearClosedLoopController;
private ShooterSpeeds currentSpeeds;
private ShooterSpeeds targetSpeeds;
public Shooter() {
frontMotor1 = new SparkMax(ShooterConstants.kFrontShooterMotor1CANID, MotorType.kBrushless);
@@ -68,45 +68,19 @@ public class Shooter extends SubsystemBase {
rearClosedLoopController = rearMotor1.getClosedLoopController();
// TODO Set this to the initial startup speed
currentSpeeds = null;
targetSpeeds = null;
}
@Override
public void periodic() {
if(currentSpeeds == null) {
if(frontClosedLoopController.getSetpoint() != 0) {
frontClosedLoopController.setSetpoint(
0,
ControlType.kVelocity
);
}
if(rearClosedLoopController.getSetpoint() != 0) {
rearClosedLoopController.setSetpoint(
0,
ControlType.kVelocity
);
}
} else {
frontClosedLoopController.setSetpoint(
currentSpeeds.getFrontRollerMPS(),
ControlType.kVelocity
);
rearClosedLoopController.setSetpoint(
currentSpeeds.getRearRollerMPS(),
ControlType.kVelocity
);
}
Logger.recordOutput(
"Shooter/FrontRollers/TargetMPS",
currentSpeeds == null ? 0 : currentSpeeds.getFrontRollerMPS()
targetSpeeds == null ? 0 : targetSpeeds.getFrontRollerMPS()
);
Logger.recordOutput(
"Shooter/RearRollers/TargetMPS",
currentSpeeds == null ? 0 : currentSpeeds.getRearRollerMPS()
targetSpeeds == null ? 0 : targetSpeeds.getRearRollerMPS()
);
Logger.recordOutput("Shooter/FrontRollers/CurrentMPS", frontEncoder.getVelocity());
@@ -117,19 +91,32 @@ public class Shooter extends SubsystemBase {
Logger.recordOutput("Shooter/RearRollers/AtSetpoint", rearClosedLoopController.isAtSetpoint());
}
public Command setCurrentSpeeds(ShooterSpeeds speeds) {
return runOnce(() -> {
currentSpeeds = speeds;
public Command maintainSpeed(ShooterSpeeds speeds) {
targetSpeeds = speeds;
return run(() -> {
if(targetSpeeds == null) {
frontMotor1.disable();
rearMotor1.disable();
} else {
frontClosedLoopController.setSetpoint(
targetSpeeds.getFrontRollerMPS(),
ControlType.kVelocity
);
rearClosedLoopController.setSetpoint(
targetSpeeds.getRearRollerMPS(),
ControlType.kVelocity
);
}
});
}
public Command stop() {
return runOnce(() -> {
currentSpeeds = null;
});
return maintainSpeed(null);
}
public Optional<ShooterSpeeds> getCurrentSpeeds() {
return Optional.ofNullable(currentSpeeds);
public Optional<ShooterSpeeds> getTargetSpeeds() {
return Optional.ofNullable(targetSpeeds);
}
}