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RPM changes for indexer, ramp, and shooter

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Team2890HawkCollective
2026-02-19 17:51:31 -05:00
parent 6b173fab83
commit e98c3834d7
8 changed files with 550 additions and 260 deletions
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24
src/main/java/frc/robot/Constants.java
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@@ -63,29 +63,32 @@ public final class Constants {
}
public static class ShooterConstants {
private static GenericEntry shooterVelocity = programmingTab.add("Desired Shooter Velocity", -0.5)
private static GenericEntry shooterVelocity = programmingTab.add("Desired Shooter RPM", -1000)
.withWidget(BuiltInWidgets.kNumberBar).getEntry();
public static double SHOOTER_VELOCITY = -0.6;
public static double SHOOTER_RPM = -0.6;
public static double SHOOTER_POWER = -0.45;
public static void getShooterVelocity() {
SHOOTER_VELOCITY = shooterVelocity.getDouble(-0.5);
SHOOTER_RPM = shooterVelocity.getDouble(-1000);
}
public static final int CENTER_SHOOTER_MOTOR_ID = 42;
public static final int LEFT_SHOOTER_MOTOR_ID = 41;
public static final int RIGHT_SHOOTER_MOTOR_ID = 40;
public static final int INDEXER_MOTOR_ID = 43;
public static double INDEXER_MOTOR_SPEED = 0.6;
public static double INDEXER_AND_RAMP_MOTOR_RPM;
private static GenericEntry indexerAndRampSpeed = programmingTab.add("Desired Ramp + Indexer Speed", 0.6)
public static double SHOOTER_MOTOR_P = 0.001;
public static double SHOOTER_MOTOR_I = 0;
public static double SHOOTER_MOTOR_D = 0;
private static GenericEntry indexerAndRampRPM = programmingTab.add("Desired Ramp + Indexer Speed", 1000)
.withWidget(BuiltInWidgets.kNumberBar).getEntry();
// this method called in robot periodic so values updated in elastic are
// constantly read and applied to RAMP_MOTOR_SPEED
public static void getRampMotorSpeed() {
INDEXER_MOTOR_SPEED = indexerAndRampSpeed.getDouble(.6);
public static void getIndexerAndRampMotorRPM() {
INDEXER_AND_RAMP_MOTOR_RPM = indexerAndRampRPM.getDouble(1000);
}
public static final int LEFT_ACTUATOR_PWM_PORT = 1;
@@ -97,13 +100,12 @@ public final class Constants {
}
public static class IntakeConstants {
private static GenericEntry intakeSpeed = programmingTab.add("Desired Intake Speed", -0.4)
private static GenericEntry intakeRPM = programmingTab.add("Desired Intake RPM", -1000)
.withWidget(BuiltInWidgets.kNumberBar).getEntry();
public static double INTAKE_WHEELS_MOTOR_SPEED;
public static double INTAKE_WHEELS_MOTOR_RPM;
public static void getIntakeWheelsSpeed() {
INTAKE_WHEELS_MOTOR_SPEED = intakeSpeed.getDouble(-0.4);
INTAKE_WHEELS_MOTOR_RPM = intakeRPM.getDouble(-1000);
}
public static final int INTAKE_WHEELS_MOTOR_ID = 50;