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… 0.1 second delay to the transfer activating
davidpolcen-sudo
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davidpolcen-sudo
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CameronMyhre,
CrumblzTheEgg and
quipp
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CrumblzTheEgg
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Pull request overview
Updates turret “stow” behavior and shooting bindings so the turret aims only while shooting and the transfer feed is delayed to let the shooter spin up first.
Changes:
- Reworked
TurretSubsystem.getStowCommand()to use a velocity-stability settle routine (and added hood velocity accessor). - Updated
RobotContainerbindings so holding the shoot trigger runs turret targeting and delays transfer loading. - Added new constants for hood settling and transfer load delay.
Reviewed changes
Copilot reviewed 3 out of 3 changed files in this pull request and generated 5 comments.
| File | Description |
|---|---|
src/main/java/frc/robot/subsystems/TurretSubsystem.java |
Adds hood velocity helper and rewrites stow command to settle based on encoder velocity. |
src/main/java/frc/robot/RobotContainer.java |
Binds shoot trigger to turret targeting and adds a delay before transfer load; sets turret default to stow. |
src/main/java/frc/robot/Constants.java |
Introduces constants used by the new stow/settle logic and transfer load delay. |
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| Command settleDown = Commands.run( | ||
| () -> pitchServo.setSpeed((Constants.Turret.PITCH_INVERTED ? -1.0 : 1.0) * -Constants.Turret.STOW_PUSH_DOWN_SPEED), | ||
| this) | ||
| // stop when encoder velocity magnitude <= threshold | ||
| .until(() -> { | ||
| boolean within = Math.abs(getHoodVelocity()) <= stopThreshold; | ||
|
|
||
| if (within) { | ||
| if (!settleTimer.isRunning()) { | ||
| settleTimer.reset(); | ||
| settleTimer.start(); | ||
| } | ||
| //Finish when considered stable | ||
| return settleTimer.hasElapsed(maxSettleTime); | ||
| } else { | ||
| settleTimer.stop(); | ||
| settleTimer.reset(); | ||
| return false; | ||
| } | ||
| } | ||
| ) | ||
| // ensure the servo is stopped when this command completes | ||
| .andThen(() -> { | ||
| pitchServo.setSpeed(0.0); | ||
| settleTimer.stop(); | ||
| settleTimer.reset(); | ||
| } | ||
| ); |
Co-authored-by: Copilot Autofix powered by AI <175728472+Copilot@users.noreply.github.com>
Co-authored-by: Copilot Autofix powered by AI <175728472+Copilot@users.noreply.github.com>
Co-authored-by: Copilot Autofix powered by AI <175728472+Copilot@users.noreply.github.com>
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