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Azoulay #9

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@levyishai levyishai changed the title 90% of the constans Side Shooter Azoulay Nov 12, 2023
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levyishai requested changes Nov 12, 2023
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levyishai requested changes Nov 19, 2023
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levyishai requested changes Nov 19, 2023
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@levyishai levyishai changed the title Side Shooter Azoulay Azoulay Nov 20, 2023
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levyishai requested changes Dec 5, 2023
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src/main/java/frc/trigon/robot/subsystems/sideshooter/SideShooter.java
Comment on lines +25 to +28
double getAnglePosition() {
double positionRevolutions = SideShooterConstants.ANGLE_ENCODER_POSITION_SIGNAL.refresh().getValue();
return positionRevolutions;
}
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return a rotation2d here.

src/main/java/frc/trigon/robot/subsystems/sideshooter/SideShooter.java
return positionRevolutions;
}

Double getAngleVelocityDegreesPerSecond() {
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use the primative type double.

src/main/java/frc/trigon/robot/subsystems/sideshooter/SideShooter.java
Comment on lines +54 to +55
);
angleMotor.setVoltage(pidOutPut = feedforward);
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why is this here?

src/main/java/frc/trigon/robot/subsystems/sideshooter/SideShooter.java
Comment on lines +25 to +36
double getAnglePosition() {
double positionRevolutions = SideShooterConstants.ANGLE_ENCODER_POSITION_SIGNAL.refresh().getValue();
return positionRevolutions;
}

Double getAngleVelocityDegreesPerSecond() {
return Conversions.revolutionsToDegrees(SideShooterConstants.ANGLE_ENCODER_VELOCITY_SIGNAL.refresh().getValue());
}

double getAngleMotorProfileTime() {
return Timer.getFPGATimestamp() - lastAngleMotorProfileGenerationTime;
}
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move these to the bottom of the class and make them private.

src/main/java/frc/trigon/robot/subsystems/sideshooter/SideShooter.java
Comment on lines +46 to +57
double calculateAngleOutput(TrapezoidProfile.State targetState) {
double pidOutPut = SideShooterConstants.ANGLE_PID_CONTROLLER.calculate(
getAnglePosition(),
targetState.position
);
double feedforward = SideShooterConstants.SIDE_SHOOTER_FEEDFORWARD.calculate(
Units.degreesToRadians(targetState.position),
targetState.velocity
);
angleMotor.setVoltage(pidOutPut = feedforward);
return feedforward + pidOutPut;
}
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move this down and make it private.

src/main/java/frc/trigon/robot/subsystems/sideshooter/SideShooterCommands.java
Comment on lines +9 to +12
public static SideShooterCommands getInstance() {
return getInstance();
}

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Huh?

src/main/java/frc/trigon/robot/subsystems/sideshooter/SideShooterCommands.java
Comment on lines +14 to +22
public Command getSetTargetShooterAngleCommand(Rotation2d targetAngle) {
return new FunctionalCommand(
() -> SideShooter.getInstance().generateAngleMotorProfile(targetAngle),
() -> getSetTargetShooterAngleCommand(targetAngle),
(interrupted) -> {},
() -> false,
SideShooter.getInstance()
);
}
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Make this static, and instead of typing SideShooter.getInstance() every time have a class variable for it.
Also, add the commands to set the target voltage and target state.

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@levyishai levyishai levyishai requested changes

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4 participants
@azdaniel123 @levyishai @Nummun14 @Strflightmight09