PR #45: shooter w/o pivot (dev to main) #45
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chainlynx/2024_Season!45
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Delete branch "develop"
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As long as those pid values are meant to be 0 this looks good to me
@ -14,0 +122,4 @@public static final double kP = 0.0;public static final double kI = 0.0;public static final double kD = 0.0;public static final double kTolerance = 1.0;Should the PID's have non-0 values?
@ -15,2 +14,3 @@/** Creates a new ExampleSubsystem. */public Intake() {m_rollerMotor = new CANSparkMax(IntakeConstants.kMotorID, MotorType.kBrushless);m_intakeRollerMotor = new CANSparkMax(IntakeConstants.kMotorID, MotorType.kBrushless);Probably best to remove this comment
overall it looks fine, but having unused vision code with unset constants is not good practice even though there are no triggers for it
remove this comment
what does this auto do? is it tested.
@ -0,0 +55,4 @@case SPEAKER:desiredAngle = ShooterConfig.kSpeakerAngle;desiredVelocity = ShooterConfig.speakerVelocity;// getVelocity(ShooterConfig.SpeakerHeight);more commented stuff we should remove this when possible
@ -12,0 +87,4 @@public static final double kShooterStowAngle = 0;public static final long kReleaseTime = 5000;public static final long kShieldTime = 2; // secondsunits, pretty obv its in ms but not the best
@ -12,0 +97,4 @@public static final Measure<Angle> kAdjustAmountDegrees = Units.Radians.of(0.5 * Math.PI / 180);// TODO placeholderspublic static final double ampVelocity = 1500; // rpmwhy are these so low and are they still placeholders and are they being used in the flywheel speed
@ -13,0 +37,4 @@public static final double camChassisYOffset = -1;public static final double camChassisZOffset = -1;public static final double kCameraHeight = -1;why do we have vision files if the constants for them are not even set? if were going to implement during comp we should have these set or written down somewhere
@ -17,0 +57,4 @@public static final int kShieldMotorId = 18;public static final double FlywheelDiameter = 0.0762;public static final double ShooterLength = 0.4064;public static final double Gravity = 9.81;arent using this constant anymore
@ -8,0 +81,4 @@public void putAngleOnSmartDashboard() {// display Angle PID coefficients on SmartDashboardconfusing method name
@ -17,0 +195,4 @@} else {return Math.abs(m_shieldEncoder.getPosition()) < ShooterConfig.kShieldRetractedPosition;}}why do we still have both
getShieldStatus()andgetShieldPosition()@ -8,0 +29,4 @@public Vision() {camera = new PhotonCamera("picam");Why are we messing with vision code right now if we aren't using it?
@ -0,0 +1,67 @@package frc.robot.commands;Do we not have a vision commands folder?
@ -12,0 +38,4 @@// top Flywheel controller PID coefficientspublic static final double kTopFlywheelP = 0.2;public static final double kTopFlywheelI = 0;Are these values tuned?
@ -14,0 +122,4 @@public static final double kP = 0.0;public static final double kI = 0.0;public static final double kD = 0.0;public static final double kTolerance = 1.0;yep
@ -14,0 +122,4 @@public static final double kP = 0.0;public static final double kI = 0.0;public static final double kD = 0.0;public static final double kTolerance = 1.0;Anything related to vision is unused so 0 pid constants on those is probably fine.
@ -12,0 +38,4 @@// top Flywheel controller PID coefficientspublic static final double kTopFlywheelP = 0.2;public static final double kTopFlywheelI = 0;yes
@ -0,0 +1,67 @@package frc.robot.commands;not necessary, but could add later
none are tested but this one just leaves
@ -15,2 +14,3 @@/** Creates a new ExampleSubsystem. */public Intake() {m_rollerMotor = new CANSparkMax(IntakeConstants.kMotorID, MotorType.kBrushless);m_intakeRollerMotor = new CANSparkMax(IntakeConstants.kMotorID, MotorType.kBrushless);yep we should but as long as its commented were keeping it
@ -12,0 +87,4 @@public static final double kShooterStowAngle = 0;public static final long kReleaseTime = 5000;public static final long kShieldTime = 2; // secondsIt doesn't affect the functionality of the code so it should be fine right now
@ -12,0 +97,4 @@public static final Measure<Angle> kAdjustAmountDegrees = Units.Radians.of(0.5 * Math.PI / 180);// TODO placeholderspublic static final double ampVelocity = 1500; // rpmThese are the correct values. Although they are pretty weird.