update deps + calibrate shooter

MiamiBeachBots · Feb 22, 2024 · 842973f · 842973f
1 parent b68d719
commit 842973f
Show file tree

Hide file tree

Showing 4 changed files with 15 additions and 14 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -57,8 +57,8 @@ public static final class CANConstants {
   // Digital Ports
 
   // Shooter Speeds (M/s)
-  public static final double SHOOTERSOURCE = -5.0;
-  public static final double SHOOTERAMP = 3.0;
-  public static final double SHOOTERSPEAKER = 5.0;
-  public static final double SHOOTERDEFAULT = 5.0;
+  public static final double SHOOTERSOURCE = -20.0;
+  public static final double SHOOTERAMP = 20.0;
+  public static final double SHOOTERSPEAKER = 8.0;
+  public static final double SHOOTERDEFAULT = 8.0;
 }
diff --git a/src/main/java/frc/robot/commands/ShooterCommand.java b/src/main/java/frc/robot/commands/ShooterCommand.java
@@ -44,6 +44,7 @@ public void execute() {
   @Override
   public void end(boolean interrupted) {
     m_shooterState.shooting = false;
+    m_shooterSubsystem.StopShooter();
   }
 
   // Returns true when the command should end.

diff --git a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java
@@ -28,16 +28,16 @@ public class ShooterSubsystem extends SubsystemBase {
   // general drive constants
   // https://www.chiefdelphi.com/t/encoders-velocity-to-m-s/390332/2
   // https://sciencing.com/convert-rpm-linear-speed-8232280.html
-  private final double kWheelDiameter = Units.inchesToMeters(6); // meters
+  private final double kWheelDiameter = Units.inchesToMeters(4); // meters
   private final double kGearRatio = 4; // TBD
   // basically converted from rotations to to radians to then meters using the wheel diameter.
   // the diameter is already *2 so we don't need to multiply by 2 again.
   private final double kVelocityConversionRatio = (Math.PI * kWheelDiameter) / kGearRatio / 60;
 
   // setup feedforward
-  private final double ksShooterVolts = 0.0;
-  private final double kvDriveVoltSecondsPerMeter = 0.0;
-  private final double kaDriveVoltSecondsSquaredPerMeter = 0.0;
+  private final double ksShooterVolts = 0.17875;
+  private final double kvDriveVoltSecondsPerMeter = 1.5442;
+  private final double kaDriveVoltSecondsSquaredPerMeter = 0.019079;
 
   SimpleMotorFeedforward m_shooterFeedForward =
       new SimpleMotorFeedforward(
@@ -65,7 +65,7 @@ public ShooterSubsystem() {
     m_ShooterMainEncoder = m_ShooterMotorMain.getEncoder();
     m_ShooterMainEncoder.setVelocityConversionFactor(kVelocityConversionRatio);
     // PID coefficients
-    kP = 6e-5;
+    kP = 0.00032423;
     kI = 0;
     kD = 0;
     kIz = 0;

diff --git a/vendordeps/photonlib.json b/vendordeps/photonlib.json
@@ -1,7 +1,7 @@
 {
     "fileName": "photonlib.json",
     "name": "photonlib",
-    "version": "v2024.2.4",
+    "version": "v2024.2.6",
     "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004",
     "frcYear": "2024",
     "mavenUrls": [
@@ -14,7 +14,7 @@
         {
             "groupId": "org.photonvision",
             "artifactId": "photonlib-cpp",
-            "version": "v2024.2.4",
+            "version": "v2024.2.6",
             "libName": "photonlib",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -29,7 +29,7 @@
         {
             "groupId": "org.photonvision",
             "artifactId": "photontargeting-cpp",
-            "version": "v2024.2.4",
+            "version": "v2024.2.6",
             "libName": "photontargeting",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -46,12 +46,12 @@
         {
             "groupId": "org.photonvision",
             "artifactId": "photonlib-java",
-            "version": "v2024.2.4"
+            "version": "v2024.2.6"
         },
         {
             "groupId": "org.photonvision",
             "artifactId": "photontargeting-java",
-            "version": "v2024.2.4"
+            "version": "v2024.2.6"
         }
     ]
 }