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Shooting Testing
Deleted the TunableNumber utility and removed all shooter tuning parameters from ShooterConstants. Shooter subsystem and IO classes were updated to use static constants and simplified velocity handling. Added fullSpeed command to Shooter and updated Orchestrator to use it for fastMode.
ShayanHasNo
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Oct 23, 2025
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minor errors, orchestrator functions needs to be labled properly and needs some changes, other than that the code looks lgtm
| public static final double REVERSE_SHOOTER_PERCENT = -0.5; | ||
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| public static final int SHOOTER_MOTOR_ID = 8; | ||
| public static final double SPINUP_SECONDS = 0.6; |
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this is unnecessary
| spinUpDistance(420.0), | ||
| Commands.sequence( | ||
| intakeIfNeeded(), | ||
| Commands.waitSeconds(ShooterConstants.SPINUP_SECONDS), |
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use the atSetpoint boolean and commands.wait method to wait until the flywheel is up to speed
ShayanHasNo
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Oct 23, 2025
| } | ||
| public Command shootCycleDistance() { | ||
| return Commands.parallel( | ||
| spinUpDistance(420.0), |
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dont use this, this is a deprecated function we are NOT going to use anymore. instead have rpm be passed in as an arguement
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