R2 102 implement static shooting calculations #36
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| public double getHoodAngleDegrees(Translation2d robotPos) { | ||
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| final double g = 9.81; |
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Put in constants file
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Added it under shooter constants 👍
| double check = Math.pow(ShooterConstants.EXIT_VELOCITY, 4) - g * (g * Math.pow(distance, 2) + 2 * ShooterConstants.HEIGHT_DIFFERENCE * Math.pow(ShooterConstants.EXIT_VELOCITY, 2)); | ||
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| if (check < 0) { | ||
| return 45.0; // Default angle if the shot is not possible |
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Rebase from main and you should get all of the ShooterState code. Use that to represent the default angle
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What does it mean to rebase? I did "Pull (rebase)" in Source Control, but I don't think that did anything.
| if (check < 0) { | ||
| return 45.0; // Default angle if the shot is not possible | ||
| } | ||
| return Math.toDegrees(Math.atan((ShooterConstants.EXIT_VELOCITY*ShooterConstants.EXIT_VELOCITY + Math.sqrt(check)) / (g * distance))); |
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Fix formatting to be consistent (spaces between match symbols)
| // Sets hood angle | ||
| public void setHoodAngle(double angleDegrees) { | ||
| hoodAngle = angleDegrees; | ||
| _hood.runPosition(Angle.ofBaseUnits(angleDegrees, Degrees), ShooterConstants.HOOD_VELOCITY, ShooterConstants.HOOD_ACCELERATION, null, PIDSlot.SLOT_0); |
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Lets find a good value/placeholder that isn't null for the MaxJerk parameter
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Added it under constants 👍
| // Prepare targets | ||
| return Commands.sequence( | ||
| // start setting targets in parallel | ||
| Commands.runOnce(() -> setFlywheelVelocity(velocity)), |
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There's a chance that this will be an issue, since it could just run the velocity for one cycle, then stop when the command is followed by setHoodAngle right away.
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Fixed up logic so it should work okish now?
…-102-implement-static-shooting-calculations
Added shooter logic, hood mechanism, hood logic, and constants for hood angle calculation