FairportRobotics
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Castor2026
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Ultrashooter

This commit is contained in:
TheRealGreydon 2026-10-13 21:30:35 -04:00
parent 024804150a
commit 119fb954da
2 changed files with 2 additions and 2 deletions
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2
src/main/java/frc/robot/Constants.java
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@ -163,7 +163,7 @@ public final class Constants {
public static final double SCORING_DISTANCE_MAX_ALLOWED_METERS = 7.0; // The maximum distance from the hub we'll allow the robot to shoot from public static final double SCORING_DISTANCE_MAX_ALLOWED_METERS = 7.0; // The maximum distance from the hub we'll allow the robot to shoot from
// This is the distance increment in inches for adjusting hood angle according to distance from the target, in inches per degree: // This is the distance increment in inches for adjusting hood angle according to distance from the target, in inches per degree:
public static final double HOOD_ANGLE_CALC_DIVISION = (SCORING_DISTANCE_LONG_IN - SCORING_DISTANCE_SHORT_IN) / (HOOD_ANGLE_SCORING_MAX_DEG - HOOD_ANGLE_SCORING_MIN_DEG); public static final double HOOD_ANGLE_CALC_DIVISION = (SCORING_DISTANCE_LONG_IN - SCORING_DISTANCE_SHORT_IN) / (HOOD_ANGLE_SCORING_MAX_DEG - HOOD_ANGLE_SCORING_MIN_DEG);
public static final double SHOOTER_EFFICIENCY_GENERAL = 0.30; // This is the baseline shooter efficiency assumption public static final double SHOOTER_EFFICIENCY_GENERAL = 0.31; // This is the baseline shooter efficiency assumption
public static final double SHOOTER_FLYWHEEL_DIAMETER_IN = 3.0; // Flywheel diameter is 3.0 inches public static final double SHOOTER_FLYWHEEL_DIAMETER_IN = 3.0; // Flywheel diameter is 3.0 inches
public static final double SHOOTER_FLYWHEEL_GEAR_RATIO = 2.0; // Flywheel moves at twice the RPM of the flywheel motor public static final double SHOOTER_FLYWHEEL_GEAR_RATIO = 2.0; // Flywheel moves at twice the RPM of the flywheel motor
public static final Angle TARGET_ELEVATION_DIF = edu.wpi.first.units.Units.Degrees.of(1); public static final Angle TARGET_ELEVATION_DIF = edu.wpi.first.units.Units.Degrees.of(1);

2
src/main/java/frc/robot/RobotContainer.java
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@ -52,7 +52,7 @@ public class RobotContainer {
public RobotContainer() { public RobotContainer() {
// turretSubsystem.setDefaultCommand(new AutoTurretCommand(turretSubsystem, driveSubsystem)); // turretSubsystem.setDefaultCommand(new AutoTurretCommand(turretSubsystem, driveSubsystem));
// turretSubsystem.homeTurret(); turretSubsystem.homeTurret();
// Configure the trigger bindings // Configure the trigger bindings
configureBindings(); configureBindings();