added tuning mode to shooter

frc2053 · Oct 18, 2024 · b6c91c9 · b6c91c9
1 parent 1f880d6
commit b6c91c9
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Showing 5 changed files with 12 additions and 2 deletions.
diff --git a/src/main/cpp/RobotContainer.cpp b/src/main/cpp/RobotContainer.cpp
@@ -83,6 +83,9 @@ void RobotContainer::ConfigureBindings() {
   operatorController.B().OnFalse(shooterSubsystem.RunShooter(
       [] { return consts::shooter::PRESET_SPEEDS::OFF; }));
 
+  operatorController.Start().WhileTrue(shooterSubsystem.RunShooter([] { return consts::shooter::PRESET_SPEEDS::TUNING; }));
+  operatorController.Start().OnFalse(shooterSubsystem.RunShooter([] { return consts::shooter::PRESET_SPEEDS::OFF; }));
+
   operatorController.Back().WhileTrue(
       frc2::cmd::Parallel(intakeSubsystem.PoopNote(), feederSubsystem.Eject()));
 

diff --git a/src/main/cpp/subsystems/ShooterSubsystem.cpp b/src/main/cpp/subsystems/ShooterSubsystem.cpp
@@ -62,6 +62,11 @@ frc2::CommandPtr ShooterSubsystem::RunShooter(
                        consts::shooter::BOTTOM_SHOOTER_LUT[distance()];
                    neutralState = false;
                    break;
+                 case consts::shooter::PRESET_SPEEDS::TUNING:
+                   topWheelVelocitySetpoint = units::revolutions_per_minute_t{topWheelTuningSetpoint.Get()};
+                   bottomWheelVelocitySetpoint = units::revolutions_per_minute_t{bottomWheelTuningSetpoint.Get()};
+                   neutralState = false;
+                   break;
                  case consts::shooter::PRESET_SPEEDS::OFF:
                    topWheelVelocitySetpoint = 0_rpm;
                    bottomWheelVelocitySetpoint = 0_rpm;

diff --git a/src/main/deploy/commit.txt b/src/main/deploy/commit.txt
@@ -1 +1 @@
-aefe2b0
+1f880d6
diff --git a/src/main/include/constants/ShooterConstants.h b/src/main/include/constants/ShooterConstants.h
@@ -69,6 +69,6 @@ inline static wpi::interpolating_map<units::meter_t, units::turns_per_second_t>
 inline static wpi::interpolating_map<units::meter_t, units::turns_per_second_t>
     BOTTOM_SHOOTER_LUT{};
 
-enum class PRESET_SPEEDS { OFF, AMP, SPEAKER_DIST, SUBWOOFER, PASS };
+enum class PRESET_SPEEDS { OFF, AMP, SPEAKER_DIST, SUBWOOFER, PASS, TUNING };
 }  // namespace shooter
 }  // namespace consts
diff --git a/src/main/include/subsystems/ShooterSubsystem.h b/src/main/include/subsystems/ShooterSubsystem.h
@@ -166,6 +166,8 @@ class ShooterSubsystem : public frc2::SubsystemBase {
       nt->GetDoubleTopic("BottomWheelSetpointRPM").Publish()};
   nt::BooleanPublisher isUpToSpeedPub{
       nt->GetBooleanTopic("IsUpToSpeed").Publish()};
+  nt::DoubleEntry topWheelTuningSetpoint{nt->GetDoubleTopic("TopWheelTuningSetpoint").GetEntry(0)};
+  nt::DoubleEntry bottomWheelTuningSetpoint{nt->GetDoubleTopic("BottomWheelTuningSetpoint").GetEntry(0)};
 
   units::turns_per_second_t topWheelVelocitySetpoint{0_rpm};
   units::turns_per_second_t bottomWheelVelocitySetpoint{0_rpm};