new table

frc2053 · Oct 23, 2024 · 22f757a · 22f757a
1 parent 243e829
commit 22f757a
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Showing 3 changed files with 11 additions and 12 deletions.
diff --git a/src/main/cpp/Robot.cpp b/src/main/cpp/Robot.cpp
@@ -27,12 +27,15 @@ void Robot::RobotInit() {
               consts::SWERVE_ODOM_LOOP_PERIOD, 2_ms);
 
   m_container.GetShooterSubsystem().SetupLUTs({
-      {65_in, {1200_rpm, 3500_rpm}},
-      {78_in, {2500_rpm, 2500_rpm}},
-      {102_in, {3000_rpm, 1900_rpm}},
-      {114_in, {3400_rpm, 1900_rpm}},
-      {127_in, {5000_rpm, 1600_rpm}},
-      {143_in, {5000_rpm, 1200_rpm}},
+    {48.13379_in, {1200_rpm, 3200_rpm}},
+    {59.13379_in, {1500_rpm, 1333.333_rpm}},
+    {71.73379_in, {2200_rpm, 1294.118_rpm}},
+    {84.43379_in, {2700_rpm, 1538.86_rpm}},
+    {95.73379_in, {3000_rpm, 1344.916_rpm}},
+    {107.9338_in, {2900_rpm, 1359.704_rpm}},
+    {120.3338_in, {2800_rpm, 1268.679_rpm}},
+    {133.1338_in, {2800_rpm, 1155.414_rpm}},
+    {144.2338_in, {2700_rpm, 1231.622_rpm}},
   });
 }
 

diff --git a/src/main/cpp/subsystems/SwerveSubsystem.cpp b/src/main/cpp/subsystems/SwerveSubsystem.cpp
@@ -42,7 +42,7 @@ void SwerveSubsystem::Periodic() {
   swerveDrive.UpdateNTEntries();
   frc::SmartDashboard::PutNumber("Distance to Speaker Center", GetDistanceToSpeaker(SpeakerSide::CENTER).convert<units::inches>().value());
   frc::SmartDashboard::PutNumber("Distance to Speaker Amp", GetDistanceToSpeaker(SpeakerSide::AMP_SIDE).convert<units::inches>().value());
-  frc::SmartDashboard::PutNumber("Distance to Speaker Center", GetDistanceToSpeaker(SpeakerSide::SOURCE).convert<units::inches>().value());
+  frc::SmartDashboard::PutNumber("Distance to Speaker Source", GetDistanceToSpeaker(SpeakerSide::SOURCE).convert<units::inches>().value());
 }
 
 void SwerveSubsystem::SimulationPeriodic() {
@@ -193,17 +193,13 @@ frc2::CommandPtr SwerveSubsystem::FaceSpeaker(
       }
     }
 
-    fmt::print("speaker location: {}, {}\n", speakerLocation.X(), speakerLocation.Y());
 
     frc::Translation2d diff = robotPosition - speakerLocation;
 
     units::radian_t angleToSpeaker = units::math::atan2(diff.Y(), diff.X());
 
-
     angleToSpeaker = angleToSpeaker + 180_deg;
 
-    fmt::print("speaker goal: {}\n", angleToSpeaker.convert<units::degrees>());
-
     thetaController.SetGoal(angleToSpeaker);
 
     units::radians_per_second_t thetaSpeed{

diff --git a/src/main/include/constants/ShooterConstants.h b/src/main/include/constants/ShooterConstants.h
@@ -55,7 +55,7 @@ struct ShooterSpeeds {
 };
 
 inline constexpr ShooterSpeeds AMP_SPEEDS{850_rpm, 2000_rpm};
-inline constexpr ShooterSpeeds SUBWOOFER_SPEEDS{5000_rpm, 5000_rpm};
+inline constexpr ShooterSpeeds SUBWOOFER_SPEEDS{1200_rpm, 3200_rpm};
 inline constexpr ShooterSpeeds PASS_SPEEDS{5000_rpm, 5000_rpm};
 
 struct MeterHash {