admin6494/FRC6494_2026Regional-offseason
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OnDYCLaptop
2026-02-23 14:25:19 +08:00
parent 27e177df3d
commit da6e3d4a5a
5 changed files with 389 additions and 17 deletions
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src/main/java/frc/robot/controls/ShooterControls.java
+24 -13
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@@ -1,8 +1,9 @@
package frc.robot.controls;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import frc.robot.Constants;
import frc.robot.subsystems.ShooterSubsystem;
@@ -14,31 +15,35 @@ public class ShooterControls {
private double flywheelSpeedOffset = 0.0;
private double backboardPositionOffset = 0.0;
private NetworkTable shooterControlTable;
public ShooterControls(ShooterSubsystem shooterSubsystem, CommandXboxController controller) {
this.shooterSubsystem = shooterSubsystem;
this.controller = controller;
shooterControlTable = NetworkTableInstance.getDefault().getTable("shooterControl");
}
public Command defaultShooterCommand() {
return Commands.run(() -> {
// System.out.println("running");
if (controller.getRightTriggerAxis() < 0.1) {
shooterSubsystem.setConveyorSpeedByRPS(0);
shooterSubsystem.setFlywheelSpeedByRPS(0);
return;
}
double flywheelSpeed;
double backboardPosition;
double conveyorSpeed;
flywheelSpeed = calculateFlywheelSpeedOnlywithOffset(20);
flywheelSpeed = calculateFlywheelSpeedOnlywithOffset(30);
backboardPosition = calculateBackboardPositionOnlywithOffset(100);
conveyorSpeed = controller.getRightTriggerAxis() * Constants.Shooter.conveyorSpeedkP;
conveyorSpeed = Constants.Shooter.conveyorSpeed;
shooterControlTable.getEntry("flywheelTargetSpeed").setDouble(flywheelSpeed);
shooterControlTable.getEntry("conveyerTargetSpeed").setDouble(conveyorSpeed);
shooterControlTable.getEntry("backboardTargetPosition").setDouble(backboardPosition);
// System.out.println("running");
if (controller.getRightTriggerAxis() < 0.1) {
flywheelSpeed = 0;
conveyorSpeed = 0;
}
// double flywheelSpeed = calculateFlywheelSpeed(0);
// double BackboardPosition = calculateBackboardPosition(0);
// shooterSubsystem.setFlywheelSpeedByRPS(flywheelSpeed);
// shooterSubsystem.setConveyorSpeedByRPS(conveyorSpeed);
shooterSubsystem.setFlywheelSpeedByRPS(flywheelSpeed);
shooterSubsystem.setConveyorSpeedByRPS(conveyorSpeed);
shooterSubsystem.setBackboardPosition(backboardPosition);
}, shooterSubsystem);
}
@@ -60,6 +65,12 @@ public class ShooterControls {
// shooterSubsystem.currentBackboardInalyzeMode = Mode.Inalyzed;}, shooterSubsystem));
// }
public void outputInfo(){
double currentConveyorSpeed = shooterSubsystem.conveyorMotor.getVelocity().getValueAsDouble();
double currentFlywheelSpeed = shooterSubsystem.flywheelMotorLeft.getVelocity().getValueAsDouble();
double currentBackboardRate = shooterSubsystem.getBackboardPosition();
System.out.println("Conveyor: " + currentConveyorSpeed + "\t Flywheel: " + currentFlywheelSpeed + "\t Backboard:" + currentBackboardRate);
}
public Command resetBackboardCommand(){
return
Commands.runOnce(()->{