Shooter #2
Shooter #2
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| @@ -103,6 +107,8 @@ private void configureBindings() { | |||
| autonomous().whileTrue(new ProxyCommand(autos::get)); | |||
| FaultLogger.onFailing(f -> Commands.print(f.toString())); | |||
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| teleop().onTrue(shooter.shoot()); | |||
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Likely left here for testing purposes, but noting this should be changed / removed soon!
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| public void setVoltage(double voltage); | ||
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| public double getVelocityRad(); |
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We typically avoid mentioning the unit return type in our code b/c it's unnecessary (we default to SI units anyway. Any different units should be noted in a comment (ask your mentors)
| public static final double kv = 1; | ||
| public static final double ka = 1; | ||
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| public static final double gearing = 1; |
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public static final constants (except k__ constants) should be named in SCREAMING_SNAKE_CASE
| } | ||
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| /** | ||
| * creates Shooter depending on if it's real or not. |
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All documentation should be properly capitalized and grammafied and english positive, or something
| * wheel. | ||
| */ | ||
| public static Shooter create() { | ||
| return Robot.isReal() ? new Shooter(new RealWheel(true, TOP_WHEEL), new RealWheel(false, BOTTOM_WHEEL)) : new Shooter(new SimWheel(), new SimWheel()); |
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apply spotless, ./gradlew sA in terminal to beautify this
| pidTop.calculate(top.getVelocityRad(), target) + ffTop.calculate(target, (target-prevTop)/Constants.PERIOD.in(Seconds))); | ||
| } | ||
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| private void setBottomSpeed(double target) { |
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Is there a case in which having these speeds be different is valuable? The code duplication is undesirable & the ability to make mistakes with flywheels spinning in opposite directions while compressing a note through them is very high
| pidBottom.calculate(bottom.getVelocityRad(), target) + ffBottom.calculate(target, (target-prevBottom)/Constants.PERIOD.in(Seconds))); | ||
| } | ||
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| private void setSpeed(double topTarget, double topBottom) { |
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| public void setVoltage(double voltage) { | ||
| sim.setInputVoltage(voltage); | ||
| sim.update(PERIOD.in(Units.Seconds)); |
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The units library is already statically imported so you can just have Seconds there without the dot notation
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| /** SimWheel */ | ||
| public class SimWheel implements WheelIO { | ||
| @Log.NT FlywheelSim sim; |
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Monologue won't ever send this over NT (it's not Sendable to begin with).
Instead, stick to placing this annotation over the subsystem getters to retrieve important information for logging in ALL of your hardware implementations, not just in your sim or real impls (you already do this so good work)
| motor.setInverted(inverted); | ||
| motor.setSmartCurrentLimit(30); | ||
| motor.burnFlash(); | ||
| encoder = motor.getEncoder(); |
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Set encoder conversion somewhere for replacement when you get values
Created a shooter subsystem.