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Make the shooter flywheels recover faster after shots #102

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Merged
codeNinja-1 merged 4 commits into from
Mar 3, 2026
Merged

Make the shooter flywheels recover faster after shots #102

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76663ea
Tune shooter hood and add backup zero button
codeNinja-1 Mar 2, 2026
9e55912
Format code
codeNinja-1 Mar 2, 2026
78c98af
Add bang-bang control for shooter rollers
codeNinja-1 Mar 2, 2026
ea154db
Merge branch 'main' into faster-shooting-recovery
codeNinja-1 Mar 3, 2026
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24 changes: 9 additions & 15 deletions src/main/java/frc/robot/subsystems/shooterrollers/ShooterRollers.java
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Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,7 @@
import com.ctre.phoenix6.CANBus;
import com.ctre.phoenix6.StatusSignal;
import com.ctre.phoenix6.controls.CoastOut;
import com.ctre.phoenix6.controls.DutyCycleOut;
import com.ctre.phoenix6.controls.Follower;
import com.ctre.phoenix6.controls.VelocityVoltage;
import com.ctre.phoenix6.hardware.TalonFX;
Expand Down Expand Up @@ -82,17 +83,7 @@ public ShooterRollers() {
* the build team
*/
public Command shoot(AngularVelocity targetVelocity) {

return startEnd(
() -> {
// defines a local function to set motor voltage to make it go
shooterRollerMotor1.setControl(
new VelocityVoltage(targetVelocity.in(RotationsPerSecond)));
},
() -> {
// defines a local function to stop motor
shooterRollerMotor1.setControl(new CoastOut());
});
return shoot(() -> targetVelocity);
}

/**
Expand All @@ -105,12 +96,15 @@ public Command shoot(AngularVelocity targetVelocity) {
* coasts the motor on end
*/
public Command shoot(Supplier<AngularVelocity> targetVelocity) {

return runEnd(
() -> {
// defines a local function to set motor voltage to make it go
shooterRollerMotor1.setControl(
new VelocityVoltage(targetVelocity.get().in(RotationsPerSecond)));
if (getAngularVelocity().plus(ShooterRollersConstants.BANG_BANG_TOLERANCE).lt(targetVelocity.get())) {
shooterRollerMotor1.setControl(new DutyCycleOut(1));
} else {
// defines a local function to set motor voltage to make it go
shooterRollerMotor1.setControl(
new VelocityVoltage(targetVelocity.get().in(RotationsPerSecond)));
}
},
() -> {
// defines a local function to stop motor
Expand Down
1 change: 1 addition & 0 deletions src/main/java/frc/robot/subsystems/shooterrollers/ShooterRollersConstants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -24,6 +24,7 @@ public final class ShooterRollersConstants {
public static final String CANBUS_NAME = "subsystems";
public static final MomentOfInertia MOMENT_OF_INERTIA = KilogramSquareMeters.of(0.003072714);
public static final AngularVelocity FIXED_FLYWHEEL_VELOCITY = RotationsPerSecond.of(24.25);
public static final AngularVelocity BANG_BANG_TOLERANCE = RotationsPerSecond.of(4);
public static final TalonFXConfiguration MOTOR_CONFIGURATION =
new TalonFXConfiguration()
.withFeedback(new FeedbackConfigs())
Expand Down