Shooter #2
Open
Shooter #2
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Yxhej
requested changes
Nov 15, 2024
src/main/java/org/sciborgs1155/robot/shooter/ShooterConstants.java
Outdated
Show resolved
Hide resolved
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); |
Member
There was a problem hiding this comment.
Don't forget to reset the motor settings to their defaults before configuration!
| } | ||
|
|
||
| public static final class Bottom { | ||
| public static final double kp = 0; |
Member
There was a problem hiding this comment.
Remember in testing to change this. Otherwise, your pids won't be doing any work
| } | ||
|
|
||
| @Log.NT | ||
| public double topTarget() { |
Member
There was a problem hiding this comment.
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; | ||
|
|
||
| private final PIDController pidTop = new PIDController(Top.kp, Top.ki, Top.kd); |
Member
There was a problem hiding this comment.
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.)
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Created a shooter subsystem.