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jettison improvement #212

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merged 2 commits into from
Jun 22, 2024
Merged

jettison improvement #212

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1419bc3
modify flywheel speed and angle to improve performance
LeanMeanBeanMachine4774 Jun 17, 2024
8f54204
modify jettison binding
LeanMeanBeanMachine4774 Jun 17, 2024
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4 changes: 2 additions & 2 deletions components/shooter.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand All @@ -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)
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2 changes: 1 addition & 1 deletion robot.py
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Expand Up @@ -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
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