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Shooter sam #41

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e8c5ac3
week 5 hw
samanyurayala Aug 12, 2026
7f846fe
Forgot to do something with the hw
samanyurayala Aug 12, 2026
59d8b78
fixed some errors
samanyurayala Aug 12, 2026
2aac222
Merge branch 'shooter-subsystem' of https://github.com/firebots-softw…
samanyurayala Aug 16, 2026
520d2d6
Finish week 6 hw
samanyurayala Aug 16, 2026
57b3656
Build
samanyurayala Aug 16, 2026
53b1851
Fix complaining
samanyurayala Aug 16, 2026
076312c
fix spotless
samanyurayala Aug 25, 2026
de38c3c
?
samanyurayala Sep 15, 2026
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44 changes: 22 additions & 22 deletions src/main/java/frc/robot/Constants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -100,7 +100,7 @@ public static final class Rollers {
DESIGNED_SURFACE_SPEED_FT_PER_SEC * 12.0;

// public static final double TARGET_ROLLER_RPM =
// (DESIGNED_SURFACE_SPEED_IN_PER_SEC * 60.0) / ROLLER_CIRCUMFERENCE_INCHES;
// (DESIGNED_SURFACE_SPEED_IN_PER_SEC * 60.0) / ROLLER_CIRCUMFERENCE_INCHES;
public static final double TARGET_ROLLER_RPM = 2700;
public static final double TARGET_ROLLER_RPS = TARGET_ROLLER_RPM / 60.0;
public static final double TARGET_MOTOR_RPS = TARGET_ROLLER_RPS * MOTOR_ROTS_PER_ROLLERS_ROT;
Expand Down Expand Up @@ -705,12 +705,12 @@ public static final class Shooter {
public static final class Hood {
public static final int HOOD_ID = 12;

public static final double KP = 0.0;
public static final double KP = 2000.0;
public static final double KI = 0.0;
public static final double KD = 0.0;
public static final double KV = 0.0;
public static final double KD = 80.0;
public static final double KV = 0.124;
public static final double KS = 0.0;
public static final double KG = 0.0;
public static final double KG = 0.4;

public static final double STATOR_CURRENT_LIMIT = 40.0;
public static final double SUPPLY_CURRENT_LIMIT = 40.0;
Expand All @@ -727,8 +727,8 @@ public static final class Hood {

public static final double HOOD_TOLERANCE_DEG = 0.5;

public static final double MIN_HOOD_POSITION = 3.8;
public static final double MAX_HOOD_POSITION = 18.369;
public static final double MIN_HOOD_ANGLE = 3.8;
public static final double MAX_HOOD_ANGLE = 18.369;

public static double ENCODER_OFFSET = 0.296; // TODO
public static final int ENCODER_PORT = 18;
Expand All @@ -748,20 +748,20 @@ public static final class Rollers {
public static final int WARMUP_2_ID = 9;
public static final int WARMUP_3_ID = 11;

public static final double KP = 0.0;
public static final double KP = 0.85;
public static final double KI = 0.0;
public static final double KD = 0.0;
public static final double KV = 0.0;
public static final double KV = 0.124;
public static final double KS = 0.0;

public static final double STATOR_CURRENT_LIMIT = 120.0;
public static final double SUPPLY_CURRENT_LIMIT = 40.0;

public static final double MOTOR_ROTS_PER_WHEEL_ROT = 15.0 / 12.0;

public static final double WHEEL_ROTS_PER_MOTOR_ROT = 1.0 / MOTOR_ROTS_PER_WHEEL_ROT;
public static final double SHOOTER_WHEEL_DIAMETER = 3.0;
}

}

public static class OI {
Expand Down Expand Up @@ -827,21 +827,21 @@ public static class Landmarks {
new Pose2d(1.6428194046020508, 4.1721110343933105, new Rotation2d(Math.PI));

// public static Pose2d RED_LEFT_INTAKE_TO_BUMP =
// new Pose2d(
// new Translation2d(10.908942222595215, 2.54630184173584),
// new Rotation2d(1.5707963267948966));
// new Pose2d(
// new Translation2d(10.908942222595215, 2.54630184173584),
// new Rotation2d(1.5707963267948966));
// public static Pose2d RED_RIGHT_INTAKE_TO_BUMP =
// new Pose2d(
// new Translation2d(10.921140670776367, 5.613290309906006),
// new Rotation2d(-1.5707963267948966));
// new Pose2d(
// new Translation2d(10.921140670776367, 5.613290309906006),
// new Rotation2d(-1.5707963267948966));
// public static Pose2d BLUE_LEFT_INTAKE_TO_BUMP =
// new Pose2d(
// new Translation2d(5.6342058181762695, 5.505496978759766),
// new Rotation2d(-1.5649821399611368));
// new Pose2d(
// new Translation2d(5.6342058181762695, 5.505496978759766),
// new Rotation2d(-1.5649821399611368));
// public static Pose2d BLUE_RIGHT_INTAKE_TO_BUMP =
// new Pose2d(
// new Translation2d(5.624283313751221, 2.4593770503997803),
// new Rotation2d(1.57873264137917));
// new Pose2d(
// new Translation2d(5.624283313751221, 2.4593770503997803),
// new Rotation2d(1.57873264137917));
public static Pose2d RED_LEFT_INTAKE_TO_BUMP =
new Pose2d(
new Translation2d(10.908942222595215, 2.2220301628112793),
Expand Down
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