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made logic for shooting #45

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Merged
TaylerUva merged 11 commits into from
May 31, 2026
Merged

made logic for shooting #45

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b48d294
made logic for shooting
FRCTeam3255-Shared-K1-10 May 30, 2026
6b48e4e
fixxed yutong's comments
FRCTeam3255-Shared-K1-10 May 30, 2026
f80cc85
resolved more yutong comments
FRCTeam3255-Shared-K1-10 May 30, 2026
af1d204
fixxed taylers comments about unused imports, value, and removed unec…
FRCTeam3255-Shared-K1-10 May 30, 2026
e6a9206
added else statement back and made flywheel set itself again
FRCTeam3255-Shared-K1-10 May 31, 2026
d92a2ef
reverted tldraw
FRCTeam3255-Shared-K1-10 May 31, 2026
1ea4364
removed uneeded if and else statements
FRCTeam3255-Shared-K1-10 May 31, 2026
6cd29fd
cleaned up the unessesary motors being used
FRCTeam3255-Shared-K1-10 May 31, 2026
0b45e49
Merge branch 'main' into add-logic-for-state-shooting
FRCTeam3255-Shared-K1-10 May 31, 2026
91e7607
Merge branch 'main' into add-logic-for-state-shooting
FRCTeam3255-Shared-K1-10 May 31, 2026
bf05789
changed the intake transfer to something that exists which is transfe…
FRCTeam3255-Shared-K1-10 May 31, 2026
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18 changes: 7 additions & 11 deletions src/main/java/frc/robot/commands/states/Shooting.java
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Original file line number Diff line number Diff line change
Expand Up @@ -8,32 +8,27 @@
import frc.robot.RobotContainer;
import frc.robot.constants.ConstMotion;
import frc.robot.constants.ConstRotors;
import frc.robot.subsystems.StateMachine;

public class Shooting extends Command {
/** Creates a new Shooting. */
public Shooting() {

// Use addRequirements() here to declare subsystem dependencies.
addRequirements(RobotContainer.stateMachineInstance);
}

// Called when the command is initially scheduled.
@Override
public void initialize() {
RobotContainer.motionInstance.setHoodPivotAngle(ConstMotion.HOOD_PIVOT_ANGLE);
RobotContainer.stateMachineInstance.setRobotState((StateMachine.RobotState.SHOOTING));
}
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// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {

RobotContainer.rotorsInstance.setFlyWheelSpeeds(ConstRotors.FLYWHEEL_SHOOTING_SPEED);
if (RobotContainer.rotorsInstance.isFlyWheelAtSpeed(ConstRotors.FLYWHEEL_SHOOTING_SPEED)) {
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RobotContainer.rotorsInstance.setTransferRollersSpeeds(ConstRotors.INTAKE_TRANSFER_SPEED);
RobotContainer.rotorsInstance.setSerializerRollersPercentOutput(ConstRotors.SERIALIZER_SHOOTING_SPEED);

} else {
RobotContainer.rotorsInstance.setFlywheelPercentOutput(0.0);
}
RobotContainer.rotorsInstance.setTransferRollersSpeeds(ConstRotors.TRANSFER_ROLLERS_SPEED);
RobotContainer.rotorsInstance.setSerializerRollersPercentOutput(ConstRotors.SERIALIZER_SHOOTING_SPEED);

}
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Expand All @@ -43,6 +38,7 @@ public void end(boolean interrupted) {
RobotContainer.rotorsInstance.setFlywheelPercentOutput(0.0);
RobotContainer.rotorsInstance.setTransferRollersPercentOutput(0.0);
RobotContainer.rotorsInstance.setSerializerRollersPercentOutput(0.0);
RobotContainer.motionInstance.setHoodPivotAngle(ConstMotion.HOOD_PIVOT_ANGLE_RETRACT);

}

Expand All @@ -51,4 +47,4 @@ public void end(boolean interrupted) {
public boolean isFinished() {
return false;
}
}
}
1 change: 1 addition & 0 deletions src/main/java/frc/robot/constants/ConstMotion.java
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Expand Up @@ -23,6 +23,7 @@ public class ConstMotion {
public static final Angle DEPLOY_INTAKE_PIVOT_ANGLE = Degrees.of(125);
public static final Angle RETRACT_INTAKE_PIVOT_ANGLE = Degrees.of(0);
public static final Angle HOOD_PIVOT_ANGLE = Degrees.of(14);
public static final Angle HOOD_PIVOT_ANGLE_RETRACT = Degrees.of(0);
public static final double STOP = 0;
public static final Angle HOOD_NONE_ANGLE = Degrees.of(0);
public static final Angle HOOD_TRENCH_ANGLE = Units.Degrees.of(13);
Expand Down
3 changes: 2 additions & 1 deletion src/main/java/frc/robot/constants/ConstRotors.java
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Expand Up @@ -33,9 +33,10 @@ public class ConstRotors {
public static final double INTAKE_ROLLERS_SPEED = 0.5;
public static final AngularVelocity FLYWHEEL_SHOOTING_SPEED = Units.RPM.of(1000);
// public static final AngularVelocity INTAKE_ROLLER_SPEED = Units.RPM.of(2000);
public static final AngularVelocity INTAKE_TRANSFER_SPEED = Units.RPM.of(3000);
public static final double SERIALIZER_SHOOTING_SPEED = 0.5;
public static final double STOP = 0;
public static final AngularVelocity TRANSFER_ROLLERS_SPEED = Units.RPM.of(3400);
public static final AngularVelocity FLYWHEEL_TOLERANCE = Units.RPM.of(100);
public static final double REVERSE_SHOOTING_SPEED = -1;
public static final double REVERSE_SERIALIZER_ROLLERS_SPEED = -0.5;
public static final double REVERSE_INTAKE_ROLLERS_SPEED = -0.5;
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1 change: 1 addition & 0 deletions src/main/java/frc/robot/subsystems/Rotors.java
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Expand Up @@ -127,4 +127,5 @@ public boolean isFlyWheelAtSpeed(AngularVelocity tolerance) {
public void periodic() {
// This method will be called once per scheduler run
}

}
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