not sure if correct but turretsubsystem auto stubs filled #29
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| public class TurretSubsystem extends SubsystemBase implements Shooter { | ||
| /** Creates a new TurretSubsystem. */ | ||
| public TurretSubsystem() {} | ||
| public static double HOOD_GEAR_RATIO = 24.230769; |
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typically we leave this in terms of like x / y so it's easier to see what the gears actually are
| flywheelIO.updateInputs(flywheelInputs); | ||
| Logger.processInputs("Shooter/Flywheel", flywheelInputs); |
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make sure to also update and process hood inputs
src/main/java/frc/robot/Robot.java
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| shooter = | ||
| new TurretSubsystem( | ||
| ROBOT_MODE == RobotMode.REAL | ||
| ? new FlywheelIO(FlywheelIO.getFlywheelConfiguration(), canivore) |
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make sure you're not using the same getFlywheelConfiguration and getHoodConfigurations as the alpha shooter. these will need to be new methods returning diff configs
src/main/java/frc/robot/Robot.java
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| : new FlywheelIOSim(FlywheelIO.getFlywheelConfiguration(), canivore), | ||
| ROBOT_MODE == RobotMode.REAL | ||
| ? new HoodIO(HoodIO.getHoodConfiguration(), canivore) | ||
| : new HoodIOSim(canivore)); |
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also, hoodio should probably have the motor passed in to the constructor as it's not always going to be the same motor or have the same settings. this then also means hoodiosim needs to also have the motor passed in the constructor as well as the physics sim with the physical parameters specific to the mechanism. you could make like a static getAlphaHoodSim method if that makes it easier
| public Command spit() { | ||
| return this.run( | ||
| () -> { | ||
| hoodIO.setHoodPosition(Rotation2d.kZero); |
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should this also be hood min rotation?
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idk what spit is actually supposed to do (did not write the command) so idk, just resets to zeroing position ig?
vivi-o
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vivi-o
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Looks good to me. Make sure to run build as well before pushing so the formatter is happy
| } | ||
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| @Override | ||
| public Command zeroHood() { |
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Add a method to the current zero the hood. You can steal this from the alpha code, but basically run the motors backwards until it's hitting the physical stop (using the current to tell), and then do zeroHood() so it's zeroed
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did you want a command like current rezeroing like on seahorse:
public Command runCurrentZeroing() {
return setPivotVoltage(() -> -5.0)
.until(
new Trigger(() -> Math.abs(pivotCurrentFilterValue) > CURRENT_THRESHOLD).debounce(0.25))
.andThen(
Commands.parallel(Commands.print("Intake Zeroed"), zeroPivot(() -> ZEROING_POSITION)));
}
the rezero command is pretty similar on that compared to whats on here:
public Command rezero() {
// return this.runOnce(() -> pivotIO.resetEncoder(Rotation2d.kCCW_90deg));
return this.runOnce(() -> pivotIO.resetEncoder(ZEROING_ANGLE));
}
| /** Creates a new TurretSubsystem. */ | ||
| public static double HOOD_GEAR_RATIO = 1; | ||
| public static double HOOD_GEAR_RATIO_C = 1; | ||
| public static double FLYWHEEL_GEAR_RATIO_C = 1; |
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why is there FLYWHEEL_GEAR_RATIO_C and FLYWHEEL_GEAR_RATIO? (ig we don't know actual gear ratio yet bc cads not final?)
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mb on naming but fwc is comp ratio and fw is alpha ratio (fixed now including gear ratios)
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