Fix flywheel velocity naming conventions in ShooterSetpoint #3

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jovapo wants to merge 1 commit from fix/shooter-velocity-units into dev

jovapo commented

2026-03-01 21:09:51 -06:00

(Migrated from github.com)

Summary

ShooterSetpoint field renamed from flywheelSurfaceSpeed: LinearVelocity to flywheelVelocity: AngularVelocity — the LUT values are RPS, not m/s, so the type and name now match the actual unit
targetLinearVelocity() renamed to targetFlywheelVelocity() for the same reason
Removed redundant commented-out code and a resolved review comment in runShooterControl()
No change to real robot behavior

Sim fixes

Sim LUT now uses the real robot values as a baseline instead of a separate uncalibrated set
Sim projectile speed now correctly converts RPS → m/s via convertAngularVelocityToLinear() before applying kEstimatedFlywheelSpeedToFuelSpeed
kEstimatedFlywheelSpeedToFuelSpeed tuned from 0.3 → 0.33 to better match observed sim trajectories

Test plan

Sim builds and runs without errors
Projectiles land near the hub at various distances in sim
Real robot shooter behavior unchanged

## Summary - `ShooterSetpoint` field renamed from `flywheelSurfaceSpeed: LinearVelocity` to `flywheelVelocity: AngularVelocity` — the LUT values are RPS, not m/s, so the type and name now match the actual unit - `targetLinearVelocity()` renamed to `targetFlywheelVelocity()` for the same reason - Removed redundant commented-out code and a resolved review comment in `runShooterControl()` - No change to real robot behavior ## Sim fixes - Sim LUT now uses the real robot values as a baseline instead of a separate uncalibrated set - Sim projectile speed now correctly converts RPS → m/s via `convertAngularVelocityToLinear()` before applying `kEstimatedFlywheelSpeedToFuelSpeed` - `kEstimatedFlywheelSpeedToFuelSpeed` tuned from 0.3 → 0.33 to better match observed sim trajectories ## Test plan - [x] Sim builds and runs without errors - [x] Projectiles land near the hub at various distances in sim - [x] Real robot shooter behavior unchanged

me-it-is (Migrated from github.com) reviewed

2026-03-01 21:09:51 -06:00

This pull request has changes conflicting with the target branch.

src/main/java/frc/robot/subsystems/Shooter/Shooter.java
src/main/java/frc/robot/subsystems/Shooter/ShooterLUT.java

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Merge commit title

Fix flywheel velocity naming conventions in ShooterSetpoint (#3)

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Reviewed-on: https://git.emeraldcityrobotics.org/chainlynx/2026_Season/pulls/3

Fix flywheel velocity naming conventions in ShooterSetpoint (#3)

Reviewed-on: https://git.emeraldcityrobotics.org/chainlynx/2026_Season/pulls/3

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