admin6494/FRC6494_2026Regional-offseason
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OnDYCLaptop
2026-07-10 22:10:06 +08:00
parent 6abdf34cf0
commit d2f5adc813
10 changed files with 94 additions and 1022 deletions
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src/main/java/frc/robot/Constants.java
+4 -18
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@@ -27,22 +27,9 @@ public final class Constants {
public static final double flywheelReadyDelaySeconds = 0.5;
// Distance (meters) -> flywheel velocity (rotations per second).
public static final InterpolatingDoubleTreeMap flywheelVelocityByDistance = new InterpolatingDoubleTreeMap();
static {
flywheelVelocityByDistance.put(1.2, 2.0 / flywheelNominalKv);
flywheelVelocityByDistance.put(2.5, 2.1 / flywheelNominalKv);
flywheelVelocityByDistance.put(3.5, 2.2 / flywheelNominalKv);
flywheelVelocityByDistance.put(5.0, 2.3 / flywheelNominalKv);
}
public static final double shooterConveyorFeedVoltage = 3.0;
public static final double shooterConveyorReverseVoltage = -2.0;
public static final double shooterConveyorNominalKv = 0.125;
public static final double shooterConveyorMaxVelocity = 12.0 / shooterConveyorNominalKv;
public static final double shooterConveyorFeedVelocity =
shooterConveyorFeedVoltage / shooterConveyorNominalKv;
public static final double shooterConveyorReverseVelocity =
shooterConveyorReverseVoltage / shooterConveyorNominalKv;
public static final double shooterConveyorFeedVelocity = 40;
public static final double shooterConveyorReverseVelocity = -10;
public static final Slot0Configs flyWheelSlot0Configs = new Slot0Configs()
.withKP(0.21)
@@ -54,7 +41,7 @@ public final class Constants {
public static final Slot0Configs conveyorSlot0Configs = new Slot0Configs()
.withKP(0.19).withKI(0).withKD(0.001)
.withKV(shooterConveyorNominalKv).withKA(0.0).withKS(0.07);
.withKV(0.125).withKA(0.0).withKS(0.07);
public static final Slot0Configs backboardSlot0Configs = new Slot0Configs()
.withKP(0.01).withKI(0).withKD(0)
@@ -168,8 +155,7 @@ public final class Constants {
public static class Superstructure {
// State-machine timing and gate tolerances; tune on the real robot.
public static final double shooterFeedVoltage = Shooter.shooterConveyorFeedVoltage;
public static final double shooterReverseVoltage = Shooter.shooterConveyorReverseVoltage;
public static final double shooterFeedVelocity = Shooter.shooterConveyorFeedVelocity;
public static final double shooterReverseVelocity = Shooter.shooterConveyorReverseVelocity;
public static final double shootTimeoutSeconds = 1.0;