From 1419bc3b0b1d2224fbbf3eb2b9670812da1bf7e5 Mon Sep 17 00:00:00 2001 From: Beana1234 Date: Mon, 17 Jun 2024 17:38:55 +1000 Subject: [PATCH 1/2] modify flywheel speed and angle to improve performance --- components/shooter.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/components/shooter.py b/components/shooter.py index 837ca13f..526ec0ea 100644 --- a/components/shooter.py +++ b/components/shooter.py @@ -24,7 +24,7 @@ class ShooterComponent: FLYWHEEL_TOLERANCE = 1 # rps FLYWHEEL_SHOOTING_SPEED = 75 - FLYWHEEL_JETTISON_SPEED = 10 + FLYWHEEL_JETTISON_SPEED = 20 FLYWHEEL_RAMP_TIME = 1 MAX_INCLINE_ANGLE = 1.045 # ~60 degrees @@ -39,7 +39,7 @@ class ShooterComponent: INCLINATOR_VELOCITY_CONVERSION_FACTOR = ( INCLINATOR_POSITION_CONVERSION_FACTOR / 60 ) # rpm -> radians/s - INCLINATOR_JETTISON_ANGLE = (MAX_INCLINE_ANGLE + MIN_INCLINE_ANGLE) / 2 + INCLINATOR_JETTISON_ANGLE = 1 # Add extra point outside our range to ramp speed down to zero FLYWHEEL_DISTANCE_LOOKUP = (0, 1.3, 2.0, 3.0, 4.0, 5.0, 7.0) From 8f54204a58d00689000393820801ee5bf7928ff4 Mon Sep 17 00:00:00 2001 From: Beana1234 Date: Tue, 18 Jun 2024 08:56:53 +1000 Subject: [PATCH 2/2] modify jettison binding --- robot.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/robot.py b/robot.py index 12179e87..1e33ff35 100644 --- a/robot.py +++ b/robot.py @@ -131,7 +131,7 @@ def teleopPeriodic(self) -> None: self.chassis.reset_odometry() # Reverse intake and shoot shooter - if self.gamepad.getBackButton(): + if self.gamepad.getStartButton(): self.note_manager.jettison() # Intake