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Add new shooter command #15

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merged 3 commits into from
Jan 28, 2024
Merged

Add new shooter command #15

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850eebc
ShooterToAmp command, test SimShooter
ambers7 Jan 26, 2024
93ab4cf
Delete config files
BenG49 Jan 28, 2024
23eae97
Zero out constants
BenG49 Jan 28, 2024
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10 changes: 10 additions & 0 deletions src/main/java/com/stuypulse/robot/commands/shooter/ShooterToAmp.java
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Original file line number Diff line number Diff line change
@@ -0,0 +1,10 @@
package com.stuypulse.robot.commands.shooter;

import com.stuypulse.robot.constants.Settings;

public class ShooterToAmp extends ShooterSetRPM {

public ShooterToAmp() {
super(Settings.Shooter.AMP_LEFT_RPM, Settings.Shooter.AMP_RIGHT_RPM);
}
}
18 changes: 10 additions & 8 deletions src/main/java/com/stuypulse/robot/constants/Settings.java
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Original file line number Diff line number Diff line change
Expand Up @@ -196,19 +196,21 @@ public interface Turn {
public interface Shooter {
double MOMENT_OF_INERTIA = 1;

SmartNumber PODIUM_SHOT_LEFT_RPM = new SmartNumber("Shooter/Podium Shot Right RPM", 0);
SmartNumber PODIUM_SHOT_RIGHT_RPM = new SmartNumber("Shooter/Podium Shot Left RPM", 0);
SmartNumber PODIUM_SHOT_LEFT_RPM = new SmartNumber("Shooter/Podium Shot Left RPM", 0);
SmartNumber PODIUM_SHOT_RIGHT_RPM = new SmartNumber("Shooter/Podium Shot Right RPM", 0);
SmartNumber AMP_LEFT_RPM = new SmartNumber("Shooter/To Amp Left RPM", 0);
SmartNumber AMP_RIGHT_RPM = new SmartNumber("Shooter/To Amp Right RPM", 0);

public interface Feedforward {
SmartNumber kV = new SmartNumber("Shooter/Feedforward/kV",0);
SmartNumber kA = new SmartNumber("Shooter/Feedforward/kA",0);
SmartNumber kS = new SmartNumber("Shooter/Feedforward/kS",0); //CHANGE LATER
SmartNumber kV = new SmartNumber("Shooter/Feedforward/kV",0.0);
SmartNumber kA = new SmartNumber("Shooter/Feedforward/kA",0.0);
SmartNumber kS = new SmartNumber("Shooter/Feedforward/kS",0.0); //CHANGE LATER
}

public interface PID {
SmartNumber kP = new SmartNumber("Shooter/PID/kP", 0);
SmartNumber kI = new SmartNumber("Shooter/PID/kI", 0);
SmartNumber kD = new SmartNumber("Shooter/PID/kD", 0);
SmartNumber kP = new SmartNumber("Shooter/PID/kP", 0.0);
SmartNumber kI = new SmartNumber("Shooter/PID/kI", 0.0);
SmartNumber kD = new SmartNumber("Shooter/PID/kD", 0.0);
}
}

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