FairportRobotics
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Castor2026
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Updates to shooter

This commit is contained in:
TheRealGrayden 2026-03-13 14:37:38 -04:00
parent cd879c103f
commit de006e7430
3 changed files with 5 additions and 31 deletions
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6
src/main/java/frc/robot/RobotContainer.java
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@ -40,7 +40,7 @@ public class RobotContainer {
public final DriveSubsystem driveSubsystem = new DriveSubsystem(m_driverController); public final DriveSubsystem driveSubsystem = new DriveSubsystem(m_driverController);
public final IntakeSubsystem intakeSubsystem = new IntakeSubsystem(); //public final IntakeSubsystem intakeSubsystem = new IntakeSubsystem();
public final TurretSubsystem turretSubsystem = new TurretSubsystem(); public final TurretSubsystem turretSubsystem = new TurretSubsystem();
@ -75,11 +75,11 @@ public class RobotContainer {
m_driverController.a().onTrue(intakeSubsystem.retractCommand()); m_driverController.a().onTrue(intakeSubsystem.retractCommand());
m_driverController.b().onTrue(intakeSubsystem.reverseCommand());*/ m_driverController.b().onTrue(intakeSubsystem.reverseCommand());*/
m_driverController.x().onTrue(intakeSubsystem.killSpeedCommand()); /*m_driverController.x().onTrue(intakeSubsystem.killSpeedCommand());
m_driverController.a().onTrue(intakeSubsystem.startSpeedCommand()); m_driverController.a().onTrue(intakeSubsystem.startSpeedCommand());
m_driverController.b().onTrue(intakeSubsystem.revSpeedCommand()); m_driverController.b().onTrue(intakeSubsystem.revSpeedCommand());
intakeSubsystem.setDefaultCommand(new ManualIntake(intakeSubsystem, m_driverController.getHID())); intakeSubsystem.setDefaultCommand(new ManualIntake(intakeSubsystem, m_driverController.getHID()));*/
} }
/** /**

1
src/main/java/frc/robot/commands/ManualShootCommand.java
View File

@ -26,6 +26,7 @@ public class ManualShootCommand extends Command {
if(m_controller.getLeftTriggerAxis()>.5 || m_controller.getRightTriggerAxis()>.5) if(m_controller.getLeftTriggerAxis()>.5 || m_controller.getRightTriggerAxis()>.5)
{ {
m_subsystem.setLauncher(1); m_subsystem.setLauncher(1);
System.out.println("Test");
} }
else else
{ {

29
src/main/java/frc/robot/subsystems/TurretSubsystem.java
View File

@ -33,11 +33,9 @@ public class TurretSubsystem extends TestableSubsystem {
//private TalonFX turretMotor; //private TalonFX turretMotor;
private SparkMax launcherMotor; private SparkMax launcherMotor;
private Servo hood; private Servo hood;
private CANcoder hoodEncoder;
private Angle limitPos; private Angle limitPos;
private Angle limitNeg; private Angle limitNeg;
private boolean turretGoingPos; private boolean turretGoingPos;
private Angle targElev;
public TurretSubsystem() { public TurretSubsystem() {
turretLimitSwitch = new DigitalInput(Constants.ShooterConstants.TURRET_LIMIT_CHANNEL); turretLimitSwitch = new DigitalInput(Constants.ShooterConstants.TURRET_LIMIT_CHANNEL);
@ -50,22 +48,17 @@ public class TurretSubsystem extends TestableSubsystem {
config.inverted(Constants.ShooterConstants.LAUNCHER_MOTOR_INVERTED); config.inverted(Constants.ShooterConstants.LAUNCHER_MOTOR_INVERTED);
hood = new Servo(Constants.ShooterConstants.HOOD_SERVO_CHANNEL); hood = new Servo(Constants.ShooterConstants.HOOD_SERVO_CHANNEL);
hoodEncoder = new CANcoder(Constants.ShooterConstants.HOOD_ENCODER_ID);
currentState = TurretState.INIT; currentState = TurretState.INIT;
limitNeg = Constants.ShooterConstants.LIMIT_AXIMUTH_NEG; limitNeg = Constants.ShooterConstants.LIMIT_AXIMUTH_NEG;
limitPos = Constants.ShooterConstants.LIMIT_AXIMUTH_POS; limitPos = Constants.ShooterConstants.LIMIT_AXIMUTH_POS;
turretGoingPos = false; turretGoingPos = false;
targElev = edu.wpi.first.units.Units.Degrees.of(45);
} }
public void setLauncher(double speed) {launcherMotor.set(speed);} public void setLauncher(double speed) {launcherMotor.set(speed);}
public void setTargetElevation(Angle elev) public void setTargetElevation(Angle elev)
{ {
if(elev.gt(Constants.ShooterConstants.LIMIT_ELEVATION_NEG) && elev.lt(Constants.ShooterConstants.LIMIT_ELEVATION_POS)) hood.setAngle(elev.in(Units.Degrees));
{
targElev=elev;
}
} }
public void startHoming() public void startHoming()
@ -133,26 +126,6 @@ public class TurretSubsystem extends TestableSubsystem {
//turretMotor.set(0); //turretMotor.set(0);
}*/ }*/
int k = 1;
if(Constants.ShooterConstants.HOOD_SERVO_INVERTED) {
k=-1;
}
Angle curElev = hoodEncoder.getAbsolutePosition().getValue();
if(targElev.minus(curElev).abs(Units.Degrees)>Constants.ShooterConstants.TARGET_ELEVATION_DIF.in(Units.Degrees))
{
if(targElev.gt(curElev))
{
hood.set(k * 0.5);
}
else
{
hood.set(k * -0.5);
}
}
else
{
hood.set(0);
}
} }
} }