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Shooter fatema #48

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a7bfd24
shooter
fatemashiyaji46 Aug 13, 2026
6483935
Merge branch 'shooter-subsystem' of https://github.com/firebots-softw…
fatemashiyaji46 Aug 24, 2026
bd712e5
hw 6
fatemashiyaji46 Aug 24, 2026
3e0430a
hw 6 again
fatemashiyaji46 Aug 25, 2026
a5cdba8
changed shootbasichood
fatemashiyaji46 Sep 3, 2026
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17 changes: 11 additions & 6 deletions src/main/java/frc/robot/Constants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -703,14 +703,17 @@ public static enum TargetingMode {
public static final class Shooter {

public static final class Hood {
public static final double MIN_HOOD_ANGLE = 3.8;
public static final double MAX_HOOD_ANGLE = 18.369;

public static final int HOOD_ID = 12;

public static final double KP = 0.0;
public static final double KP = 2000;
public static final double KI = 0.0;
public static final double KD = 0.0;
public static final double KD = 80.0;
public static final double KV = 0.0;
public static final double KS = 0.0;
public static final double KG = 0.0;
public static final double KS = 0.124;
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 Down Expand Up @@ -742,16 +745,18 @@ public static final class Hood {
}

public static final class Rollers {
public static final double MOTOR_ROTS_PER_WHEEL_ROT = 15.0 / 12.0;

public static final double TOLERANCE_RPS = 1.0;

public static final int WARMUP_1_ID = 10;
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;
Expand Down
192 changes: 101 additions & 91 deletions src/main/java/frc/robot/RobotContainer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -10,94 +10,91 @@
// import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.DriverStation.Alliance;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
// * KEEP FOR WIN COMMAND TESTING
import frc.robot.commandGroups.ShootBasicHood;
import frc.robot.commands.SwerveCommands.SwerveJoystickCommand;
import frc.robot.generated.TunerConstants;
import frc.robot.subsystems.CommandSwerveDrivetrain;
import frc.robot.subsystems.FuelGaugeDetection;
import frc.robot.subsystems.HopperSubsystem;
import frc.robot.subsystems.IntakeSubsystem;
import frc.robot.subsystems.IntakeVisionDetection;
import frc.robot.subsystems.ShooterSubsystem;
import frc.robot.subsystems.VisionSubsystem;
import frc.robot.util.CustomController;
import frc.robot.util.VisionUtils;
import java.util.function.BooleanSupplier;
import java.util.function.DoubleSupplier;

public class RobotContainer {
private BooleanSupplier redside = RobotContainer::isRedAlliance;

// private Field2d field = new Field2d();
private final Telemetry logger =
new Telemetry(Constants.Swerve.PHYSICAL_MAX_SPEED_METERS_PER_SECOND);

private final CommandXboxController joystick = new CommandXboxController(0);
private final CustomController secondController = new CustomController(4);

public final CommandSwerveDrivetrain drivetrain = TunerConstants.createDrivetrain();

public final HopperSubsystem hopperSubsystem =
Constants.hopperOnRobot ? new HopperSubsystem() : null;
public final IntakeSubsystem intakeSubsystem =
Constants.intakeOnRobot ? new IntakeSubsystem() : null;

// private final AutoRoutines autoRoutines;
// private final AutoChooser autoChooser;

public final VisionSubsystem visionFrontRight =
Constants.visionOnRobot
? new VisionSubsystem(Constants.Vision.VisionCamera.FRONT_RIGHT_CAM, drivetrain)
: null;
public final VisionSubsystem visionFrontLeft =
Constants.visionOnRobot
? new VisionSubsystem(Constants.Vision.VisionCamera.FRONT_LEFT_CAM, drivetrain)
: null;
public final VisionSubsystem visionRearRight =
Constants.visionOnRobot
? new VisionSubsystem(Constants.Vision.VisionCamera.REAR_RIGHT_CAM, drivetrain)
: null;
public final VisionSubsystem visionRearLeft =
Constants.visionOnRobot
? new VisionSubsystem(Constants.Vision.VisionCamera.REAR_LEFT_CAM, drivetrain)
: null;

public final FuelGaugeDetection visionFuelGauge =
Constants.fuelGaugeOnRobot
? new FuelGaugeDetection(Constants.FuelGaugeDetection.FuelGaugeCamera.FUEL_GAUGE_CAM)
: null;
public final IntakeVisionDetection visionIntake =
Constants.intakeVisionOnRobot
? new IntakeVisionDetection(Constants.IntakeVision.IntakeVisionCamera.INTAKE_CAM)
: null;

// * KEEP FOR INTERMAP TESTING
// private double hoodAngle = 18.369;
// private double shooterSpeed = 58.0;

public RobotContainer() {
// autoRoutines = new AutoRoutines(intakeSubsystem, lebron, hopperSubsystem, drivetrain,
// redside);
// autoChooser = autoRoutines.getAutoChooser();
// SmartDashboard.putData("Auto Chooser", autoChooser);
// SmartDashboard.putData("Elastic/Field2d", field);
configureBindings();
}
private BooleanSupplier redside = RobotContainer::isRedAlliance;

// private Field2d field = new Field2d();
private final Telemetry logger = new Telemetry(Constants.Swerve.PHYSICAL_MAX_SPEED_METERS_PER_SECOND);

private final CommandXboxController joystick = new CommandXboxController(0);
private final CustomController secondController = new CustomController(4);

public final CommandSwerveDrivetrain drivetrain = TunerConstants.createDrivetrain();

public final HopperSubsystem hopperSubsystem = Constants.hopperOnRobot ? new HopperSubsystem() : null;
public final IntakeSubsystem intakeSubsystem = Constants.intakeOnRobot ? new IntakeSubsystem() : null;
public final ShooterSubsystem shooterSubsystem = new ShooterSubsystem();

// private final AutoRoutines autoRoutines;
// private final AutoChooser autoChooser;

public final VisionSubsystem visionFrontRight = Constants.visionOnRobot
? new VisionSubsystem(Constants.Vision.VisionCamera.FRONT_RIGHT_CAM, drivetrain)
: null;
public final VisionSubsystem visionFrontLeft = Constants.visionOnRobot
? new VisionSubsystem(Constants.Vision.VisionCamera.FRONT_LEFT_CAM, drivetrain)
: null;
public final VisionSubsystem visionRearRight = Constants.visionOnRobot
? new VisionSubsystem(Constants.Vision.VisionCamera.REAR_RIGHT_CAM, drivetrain)
: null;
public final VisionSubsystem visionRearLeft = Constants.visionOnRobot
? new VisionSubsystem(Constants.Vision.VisionCamera.REAR_LEFT_CAM, drivetrain)
: null;

public final FuelGaugeDetection visionFuelGauge = Constants.fuelGaugeOnRobot
? new FuelGaugeDetection(Constants.FuelGaugeDetection.FuelGaugeCamera.FUEL_GAUGE_CAM)
: null;
public final IntakeVisionDetection visionIntake = Constants.intakeVisionOnRobot
? new IntakeVisionDetection(Constants.IntakeVision.IntakeVisionCamera.INTAKE_CAM)
: null;

// * KEEP FOR INTERMAP TESTING
// private double hoodAngle = 18.369;
// private double shooterSpeed = 58.0;

public RobotContainer() {
// autoRoutines = new AutoRoutines(intakeSubsystem, lebron, hopperSubsystem,
// drivetrain,
// redside);
// autoChooser = autoRoutines.getAutoChooser();
// SmartDashboard.putData("Auto Chooser", autoChooser);
// SmartDashboard.putData("Elastic/Field2d", field);
configureBindings();
}

// public void doTelemetry() {
// logger.telemeterize(drivetrain.getCurrentState());
// public void doTelemetry() {
// logger.telemeterize(drivetrain.getCurrentState());

// String commandName = "nah";
// String commandName = "nah";

// if (drivetrain.getCurrentCommand() != null) {
// commandName = drivetrain.getCurrentCommand().getName();
// }
// DogLog.log("Robot/SwerveDriveCommand", commandName);
// }
// if (drivetrain.getCurrentCommand() != null) {
// commandName = drivetrain.getCurrentCommand().getName();
// }
// DogLog.log("Robot/SwerveDriveCommand", commandName);
// }

// public CommandSwerveDrivetrain getDrivetrain() {
// return drivetrain;
// }
// public CommandSwerveDrivetrain getDrivetrain() {
// return drivetrain;
// }

private void configureBindings() {
// Swerve
Expand All @@ -123,6 +120,19 @@ private void configureBindings() {
joystick.x().onTrue(drivetrain.runOnce(drivetrain::seedFieldCentric));
drivetrain.setDefaultCommand(swerveJoystickDefaultCommand);

shooterSubsystem.setDefaultCommand(shooterSubsystem.runOnce(shooterSubsystem::stopShooter));
joystick
.rightBumper()
.whileTrue(shooterSubsystem.shootWithHood(44.2, Constants.Shooter.Hood.MIN_HOOD_POSITION).alongWith(
Commands.waitUntil(shooterSubsystem::isShooterAtSpeed)
.andThen(hopperSubsystem.runHopperUntilInterruptedCommand())));
joystick
.rightTrigger()
.whileTrue(
shooterSubsystem.shootWithHood(58.2, Constants.Shooter.Hood.MAX_HOOD_POSITION).alongWith(
Commands.waitUntil(shooterSubsystem::isShooterAtSpeed)
.andThen(hopperSubsystem.runHopperUntilInterruptedCommand())));

// Intake
intakeSubsystem.setDefaultCommand(intakeSubsystem.intakeDefault());
joystick.leftBumper().whileTrue(intakeSubsystem.intakeUntilInterruptedCommand());
Expand Down Expand Up @@ -180,34 +190,34 @@ private void configureBindings() {
// joystick.b().onTrue(new InstantCommand(() -> shooterSpeed-=0.5));
}

public static boolean isRedAlliance() {
return DriverStation.getAlliance().isEmpty()
? false
: DriverStation.getAlliance().get() == Alliance.Red;
}
public static boolean isRedAlliance() {
return DriverStation.getAlliance().isEmpty()
? false
: DriverStation.getAlliance().get() == Alliance.Red;
}

public void visionPeriodic() {
VisionUtils.visionPeriodic(
visionFrontRight, visionFrontLeft, visionRearRight, visionRearLeft, drivetrain);
}
public void visionPeriodic() {
VisionUtils.visionPeriodic(
visionFrontRight, visionFrontLeft, visionRearRight, visionRearLeft, drivetrain);
}

public void doTelemetry() {
logger.telemeterize(drivetrain.getCurrentState());
public void doTelemetry() {
logger.telemeterize(drivetrain.getCurrentState());

String commandName = "nah";
String commandName = "nah";

if (drivetrain.getCurrentCommand() != null) {
commandName = drivetrain.getCurrentCommand().getName();
if (drivetrain.getCurrentCommand() != null) {
commandName = drivetrain.getCurrentCommand().getName();
}
}
}

public boolean inAllianceSide() {
return redside.getAsBoolean()
? drivetrain.getPose().getX() > Constants.Landmarks.RED_HUB.getX()
: drivetrain.getPose().getX() < Constants.Landmarks.BLUE_HUB.getX();
}
public boolean inAllianceSide() {
return redside.getAsBoolean()
? drivetrain.getPose().getX() > Constants.Landmarks.RED_HUB.getX()
: drivetrain.getPose().getX() < Constants.Landmarks.BLUE_HUB.getX();
}

// public Command getAutonomousCommand() {
// return autoChooser.selectedCommand();
// }
// public Command getAutonomousCommand() {
// return autoChooser.selectedCommand();
// }
}
16 changes: 16 additions & 0 deletions src/main/java/frc/robot/commandGroups/ShootBasicHood.java
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Original file line number Diff line number Diff line change
@@ -0,0 +1,16 @@
package frc.robot.commandGroups;

import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
import frc.robot.subsystems.HopperSubsystem;
import frc.robot.subsystems.ShooterSubsystem;

public class ShootBasicHood extends ParallelCommandGroup {
public ShootBasicHood(
double speed, double angle, ShooterSubsystem shooter, HopperSubsystem hopper) {
addCommands(
shooter.shootWithHood(speed, angle),
Commands.waitUntil(shooter::isShooterAtSpeed)
.andThen(hopper.runHopperUntilInterruptedCommand()));
}
}
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