Shooter #2
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Yxhej
requested changes
Nov 15, 2024
src/main/java/org/sciborgs1155/robot/shooter/ShooterConstants.java
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Yxhej
requested changes
Dec 2, 2024
| motor = new CANSparkMax(id, MotorType.kBrushless); | ||
| public RealWheel(boolean inverted, int motorID) { | ||
| motor = new CANSparkMax(motorID, MotorType.kBrushless); | ||
| motor.setIdleMode(IdleMode.kBrake); |
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Don't forget to reset the motor settings to their defaults before configuration!
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| public static final class Bottom { | ||
| public static final double kp = 0; |
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Remember in testing to change this. Otherwise, your pids won't be doing any work
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| @Log.NT | ||
| public double topTarget() { |
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topSetpoint is better and more specific here; target could refer to a set state, for instance, and setpoint is the more general term for the reference
| private final WheelIO top; | ||
| private final WheelIO bottom; | ||
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| private final PIDController pidTop = new PIDController(Top.kp, Top.ki, Top.kd); |
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WPILib PIDControllers are sendable, so you should log these. Helps the testing process massively by allowing you to change PID constants dynamically over NT
Unfortunately, feedforward isn't (though there shouldn't ever be a need to change those in the middle of a match.)
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Created a shooter subsystem.