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tuned new shooter
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@penguin212
penguin212 committed Apr 6, 2024
1 parent 85c02fb commit 23b6fbb
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Showing 5 changed files with 38 additions and 56 deletions.
4 changes: 2 additions & 2 deletions src/main/java/frc/robot/Constants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -128,8 +128,8 @@ public static class ShooterConstants {
public static final double BOTTOM_SHOOTER_MOTOR_SPEED = .64;

public static final double MAX_FLYWHEEL_RPS = 6380.0 / 60;
public static final double MIN_SHOOTER_DISTANCE = 1.08;
public static final double MAX_SHOOTER_DISTANCE = 8;
public static final double MIN_SHOOTER_DISTANCE = 1.2;
public static final double MAX_SHOOTER_DISTANCE = 7;
public static final double FLYWHEEL_SHUTTLE_SPEED = 0.3;
}

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53 changes: 18 additions & 35 deletions src/main/java/frc/robot/RobotContainer.java
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Expand Up @@ -136,7 +136,7 @@ public class RobotContainer {
private final ShuffleboardTab swerveCrauton;

private double shooterPivotSetPosition = Units.degreesToRadians(18);
private double shooterTopSpeed = .75;
private double shooterSpeed = .8;
private double shooterBotSpeed = .4;
private double intakePosition = 0;

Expand Down Expand Up @@ -325,28 +325,12 @@ private void configureBindings() {
shooterPivotSetPosition -= .003;
break;

case 45:
shooterTopSpeed += .001;
break;

case 315:
shooterTopSpeed -= .001;
break;

case 135:
shooterBotSpeed += .001;
break;

case 225:
shooterBotSpeed -= .001;
break;

case 90:
intakePosition += .01;
shooterSpeed += .001;
break;

case 270:
intakePosition -= .01;
shooterSpeed -= .001;
break;

default:
Expand All @@ -357,8 +341,7 @@ private void configureBindings() {



// System.out.print(" Top: " + GRTUtil.twoDecimals(shooterTopSpeed)
// + " Bot: " + GRTUtil.twoDecimals(shooterBotSpeed)
// System.out.print(" Speed: " + GRTUtil.twoDecimals(shooterSpeed)
// );

// shooterPivotSubsystem.getAutoAimAngle();
Expand All @@ -372,18 +355,18 @@ private void configureBindings() {

// elevatorSubsystem.setManual();

elevatorSubsystem.setDefaultCommand(new InstantCommand(() -> {
if (mechController.getPOV() == 0) {
elevatorSubsystem.setTargetState(ElevatorState.TRAP);
// elevatorSubsystem.setMotorPower(0.1);
} else if (mechController.getPOV() == 180) {
elevatorSubsystem.setTargetState(ElevatorState.ZERO);
// elevatorSubsystem.setMotorPower(-0.1);
}
else{
// elevatorSubsystem.setMotorPower(0);
}
}, elevatorSubsystem));
// elevatorSubsystem.setDefaultCommand(new InstantCommand(() -> {
// if (mechController.getPOV() == 0) {
// elevatorSubsystem.setTargetState(ElevatorState.TRAP);
// // elevatorSubsystem.setMotorPower(0.1);
// } else if (mechController.getPOV() == 180) {
// elevatorSubsystem.setTargetState(ElevatorState.ZERO);
// // elevatorSubsystem.setMotorPower(-0.1);
// }
// else{
// // elevatorSubsystem.setMotorPower(0);
// }
// }, elevatorSubsystem));

elevatorToZero.onTrue(new ElevatorToZeroCommand(elevatorSubsystem));
/* INTAKE TEST */
Expand Down Expand Up @@ -511,7 +494,7 @@ private void configureBindings() {
shooterFlywheelSubsystem.setDefaultCommand(new InstantCommand(() -> {
if (yButton.getAsBoolean()) {
lightBarSubsystem.setLightBarStatus(LightBarStatus.SHOOTER_SPIN_UP, 2);
// shooterFlywheelSubsystem.setShooterMotorSpeed(shooterTopSpeed, shooterBotSpeed); // for tuning
// shooterFlywheelSubsystem.setShooterMotorSpeed(shooterSpeed); // for tuning
shooterFlywheelSubsystem.setShooterMotorSpeed();
shooterPivotSubsystem.setAutoAimBoolean(true);
if (shooterFlywheelSubsystem.atSpeed()) {
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10 changes: 6 additions & 4 deletions src/main/java/frc/robot/subsystems/shooter/ShooterFlywheelSubsystem.java
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Expand Up @@ -72,6 +72,8 @@ public ShooterFlywheelSubsystem(DoubleSupplier distanceSupplier, BooleanSupplier
shooterMotorTop = new TalonFX(ShooterConstants.SHOOTER_MOTOR_TOP_ID);
shooterMotorBottom = new TalonFX(ShooterConstants.SHOOTER_MOTOR_BOTTOM_ID);

request.EnableFOC = true;

shooterMotorTop.setInverted(true);
shooterMotorBottom.setInverted(true);

Expand All @@ -84,12 +86,12 @@ public ShooterFlywheelSubsystem(DoubleSupplier distanceSupplier, BooleanSupplier
double[] distances = {ShooterConstants.MIN_SHOOTER_DISTANCE,
2,
3,
3.71,
4.8,
5.6,
4,
5,
6,
ShooterConstants.MAX_SHOOTER_DISTANCE};

double[] speeds = {.4, .5, .7, .75, .75, .75, .75};
double[] speeds = {.5, .5, .65, .75, .75, .8, .8};

targetTopRPS = 0.0;
targetBottomRPS = 0.0;
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25 changes: 11 additions & 14 deletions src/main/java/frc/robot/subsystems/shooter/ShooterPivotSubsystem.java
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Expand Up @@ -19,6 +19,7 @@
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.Constants.ShooterConstants;
import frc.robot.Constants.SwerveConstants;
import frc.robot.util.GRTUtil;
import frc.robot.util.Pose2dSupplier;

import java.util.function.BooleanSupplier;
Expand Down Expand Up @@ -104,21 +105,17 @@ public ShooterPivotSubsystem(DoubleSupplier distanceSupplier, BooleanSupplier re
double[] distances = {ShooterConstants.MIN_SHOOTER_DISTANCE,
2,
3,
3.71,
4.2,
4,
5,
5.6,
7,
6,
ShooterConstants.MAX_SHOOTER_DISTANCE};
double[] angles = {Units.degreesToRadians(65.5),
Units.degreesToRadians(53.5),
Units.degreesToRadians(46),
Units.degreesToRadians(40),
Units.degreesToRadians(37.5),
Units.degreesToRadians(33.5),
Units.degreesToRadians(32),
Units.degreesToRadians(28),
Units.degreesToRadians(28)};
double[] angles = {Units.degreesToRadians(60),
Units.degreesToRadians(51),
Units.degreesToRadians(35),
Units.degreesToRadians(29), //4
Units.degreesToRadians(27.26),
Units.degreesToRadians(26),
Units.degreesToRadians(27.5)};

// X = distances, Y = angles in rads
akima = new AkimaSplineInterpolator();
Expand Down Expand Up @@ -157,7 +154,7 @@ public double getAutoAimAngle() {
currentDistance = getShootingDistance();

// System.out.println("Distance to speaker: " + GRTUtil.twoDecimals(currentDistance)
// + " Set angle: " + GRTUtil.twoDecimals(Units.radiansToDegrees(angleSpline.value(currentDistance)))
// + " Set angle: " + GRTUtil.twoDecimals(Units.radiansToDegrees(angleSpline.value(MathUtil.clamp(currentDistance, ShooterConstants.MIN_SHOOTER_DISTANCE, ShooterConstants.MAX_SHOOTER_DISTANCE))))
// + " Current angle: " + GRTUtil.twoDecimals(Units.radiansToDegrees(rotationEncoder.getPosition())));

return angleSpline.value(MathUtil.clamp(getShootingDistance(), ShooterConstants.MIN_SHOOTER_DISTANCE, ShooterConstants.MAX_SHOOTER_DISTANCE));
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2 changes: 1 addition & 1 deletion src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java
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Original file line number Diff line number Diff line change
Expand Up @@ -285,7 +285,7 @@ public void periodic() {
velocity = new Pose2d(new Translation2d(vX, vY), new Rotation2d(vTheta));
lastPose = getRobotPosition();

System.out.println("shooting pos: " + getShootingPosition());
// System.out.println("shooting pos: " + getShootingPosition());
}
xEntry.setDouble(getShootingPosition().getX());
yEntry.setDouble(getShootingPosition().getY());
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