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Castor2026
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Added more Logger items for debugging

This commit is contained in:
Scott Jackson 2026-10-01 16:52:46 -04:00
parent 9bfdcce35e
commit 2e87c28fe4
1 changed files with 5 additions and 3 deletions
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8
src/main/java/frc/robot/commands/UltraShooterCommand.java
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@ -52,7 +52,6 @@ public class UltraShooterCommand extends Command{
hopperSubsystem.stopKicker(); // Make sure kicker is off when command is called
CommandScheduler.getInstance().schedule(waitCommand); // Kick off a wait timer so robot doesn't shoot until hopper is ready
alliance = DriverStation.getAlliance().get(); // Fetch our alliance
// Logger.recordOutput("AutoTurretShoot-State", "SHOOTING");
Logger.recordOutput("UltraShooter-State", "ACTIVE");
}
@ -112,16 +111,18 @@ public class UltraShooterCommand extends Command{
}
// STEP 5: Find final target based on the intial target and the robot's velocity.
// THIS IS NOT IMPLEMENTED - SO ASSUME STATIONARY ROBOT.
// THIS IS NOT IMPLEMENTED - SO ASSUME STATIONARY ROBOT. Make final target the same as initial.
Pose3d finalTargetPose = initialTargetPose;
double distanceToFinalTargetMeters = distanceToInitialTargetMeters;
Logger.recordOutput("UltraShooter-FinalTarget", finalTargetPose);
Logger.recordOutput("UltraShooter-DistanceToFinalTarget(Meters)", distanceToFinalTargetMeters);
// STEP 6: Find hood angle and launch speed for the final target.
// THIS IS NOT IMPLEMENTED - SO ASSUME STATIONARY ROBOT:
// THIS IS NOT IMPLEMENTED - SO ASSUME STATIONARY ROBOT. Make final target the same as initial.
double finalLaunchSpeedFPS = intitialLaunchSpeedFPS;
int finalHoodAngleDegrees = initialHoodAngleDegrees;
Logger.recordOutput("UltraShooter-FinalLaunchSpeedFPS", finalLaunchSpeedFPS);
Logger.recordOutput("UltraShooter-FinalLaunchAngleDeg", finalHoodAngleDegrees);
// Confirm we're at a valid scoring distance for the robot's capabilities. If not, don't shoot.
if ((scoring) &&
@ -132,6 +133,7 @@ public class UltraShooterCommand extends Command{
// STEP 7: Find the flywheel RPM needed to achieve the launch speed we just calculated.
double finalShooterRPM = Utils.GetShooterRPMForLaunchSpeed(finalLaunchSpeedFPS);
Logger.recordOutput("UltraShooter-FinalShooterFlywheelRPM", finalShooterRPM);
// STEP 8: Command turretSubsystem to do what we need it to do for the launch speed and launch angle.
// Adjust for the shooter flywheel-to-motor gear ratio when setting the flywheel motor speed.