Shooter #93
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Shooter #93
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goanna247
requested changes
Jan 16, 2024
| case ShooterState::kIdle: | ||
| { | ||
| _config.ShooterGearbox.transmission->SetVoltage(0_V); | ||
| if (_config.shooterSensor) { |
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you need a .Get() function here, this technically shouldnt build
| units::volt_t volts = _pid.Calculate(_goal, dt, 0.2_V); | ||
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| _voltage = volts; | ||
| _config.ShooterGearbox.transmission->SetVoltage(_voltage); |
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why not just set this straight to volts
| _pid.SetSetpoint(_goal); | ||
| units::volt_t volts = _pid.Calculate(_goal, dt, 0.2_V); | ||
| _voltage = volts; | ||
| _config.ShooterGearbox.transmission->SetVoltage(_voltage); |
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again set this just straight to volts
| } | ||
| } | ||
| break; | ||
| default: |
| _state = state; | ||
| } | ||
| void Shooter::setRaw(units::volt_t voltage) { | ||
| _voltage = voltage; |
| } | ||
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| void ShooterManualControl::OnTick(units::second_t dt) { | ||
| // if (_codriver.GetLeftBumper()) { |
| } else if (_codriver.GetRightBumper()) { | ||
| _shooter->setState(ShooterState::kSpinUp); | ||
| _shooter->setPidGoal(20_rad_per_s); | ||
| } |
| } else if (_codriver.GetRightBumper()) { | ||
| _shooter->setState(ShooterState::kSpinUp); | ||
| _shooter->setPidGoal(20_rad_per_s); | ||
| } |
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you need an else for raw control
| _shooter->setPidGoal(20_rad_per_s); | ||
| } | ||
| } | ||
| //yay now to face... BUILD ERRORS.... |
| @@ -2,3 +2,20 @@ Files placed in this directory will be deployed to the RoboRIO into the | |||
| 'deploy' directory in the home folder. Use the 'frc::filesystem::GetDeployDirectory' | |||
| function from the 'frc/Filesystem.h' header to get a proper path relative to the deploy | |||
| directory. | |||
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What this PR does
Adds in Shooter And Shooter Behaviour. Has pid loop and toggle manual control. (v1)
What does it fix/add?
Resolves #86