better consts and shooter better

NicholsSchool · Oct 24, 2024 · 8c0e1bb · 8c0e1bb
1 parent 3f9c4e9
commit 8c0e1bb
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Showing 5 changed files with 11 additions and 18 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -124,12 +124,13 @@ public static final class ShooterConstants {
     public static final double kSHOOTER_GEAR_RATIO = 1.0;
 
     public static final double kShooterRPM = 2500;
+    public static final double kDeliverRPM = 1000;
+    public static final double kReverseRPM = 400;
 
     public static final double kCurrentLimit = 35; // amps
 
     public static double kP = 1.5;
-
-    public static double kD;
+    public static double kD = 0.0;
   }
 
   public static final class AutoConstants {

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -315,7 +315,7 @@ private void configureButtonBindings() {
         .whileTrue(
             new ParallelCommandGroup(
                 new SequentialCommandGroup(new WaitCommand(1.5), intake.runDigestCommand()),
-                shooter.runShootCommand()));
+                new InstantCommand(() -> shooter.setShoot())));
     driveController.leftTrigger(0.8).whileTrue(intake.runDigestCommand());
     // driveController.rightTrigger(0.9).whileTrue(intake.runPoopCommand());
   }

diff --git a/src/main/java/frc/robot/commands/ShootCommand.java b/src/main/java/frc/robot/commands/ShootCommand.java
@@ -13,6 +13,6 @@ public ShootCommand(Intake intake, Shooter shooter) {
     new ParallelCommandGroup(
         new SequentialCommandGroup(
             new WaitCommand(1.0), new InstantCommand(() -> intake.runEatCommand())),
-        new InstantCommand(() -> shooter.runShootCommand()));
+        new InstantCommand(() -> shooter.setShoot()));
   }
 }
diff --git a/src/main/java/frc/robot/subsystems/intake/Intake.java b/src/main/java/frc/robot/subsystems/intake/Intake.java
@@ -102,7 +102,7 @@ public void periodic() {
         case kStopped:
           setpointRPMs = 0.0;
       }
-      
+
       setpointRadPerSec = Units.rotationsPerMinuteToRadiansPerSecond(setpointRPMs);
       controller.setSetpoint(setpointRadPerSec);
       double voltage = ffModel.calculate(setpointRadPerSec);

diff --git a/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
@@ -4,11 +4,8 @@
 import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.math.controller.SimpleMotorFeedforward;
 import edu.wpi.first.wpilibj.DriverStation;
-import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
-import frc.robot.Constants.ShooterConstants;
 import frc.robot.util.LoggedTunableNumber;
 import org.littletonrobotics.junction.AutoLogOutput;
 import org.littletonrobotics.junction.Logger;
@@ -48,12 +45,11 @@ public Shooter(ShooterIO io) {
     io.setBrakeMode(false);
 
     shootVelocity.initDefault(Constants.ShooterConstants.kShooterRPM);
-    deliverVelocity.initDefault(1000.0);
-    reverseVeloctiy.initDefault(-100.0);
-    deliverVelocity.initDefault(1000.0);
+    reverseVeloctiy.initDefault(Constants.ShooterConstants.kReverseRPM);
+    deliverVelocity.initDefault(Constants.ShooterConstants.kDeliverRPM);
     spinDurationSec.initDefault(1.5);
-    kP.initDefault(ShooterConstants.kP);
-    kD.initDefault(ShooterConstants.kD);
+    kP.initDefault(Constants.ShooterConstants.kP);
+    kD.initDefault(Constants.ShooterConstants.kD);
 
     // Switch constants based on mode (the physics simulator is treated as a
     // separate robot with different tuning)
@@ -88,7 +84,7 @@ public void periodic() {
     } else {
       switch (mode) {
         case kShoot:
-          setpoint = 4000;
+          setpoint = shootVelocity.get();
           break;
         case kDeliver:
           setpoint = deliverVelocity.get();
@@ -140,8 +136,4 @@ public double getVoltageCommand() {
   public double getActualVelocityRPMs() {
     return inputs.velocityRPMs;
   }
-
-  public Command runShootCommand() {
-    return new InstantCommand(() -> this.setShoot());
-  }
 }