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edited Flywheel.java

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This commit is contained in:
DanTheMan-byte
2026-01-01 22:39:02 -06:00
parent 054b6de169
commit 05412940e8
3 changed files with 23 additions and 32 deletions
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16
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV2.java
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@@ -1,19 +1,9 @@
package org.firstinspires.ftc.teamcode.teleop; package org.firstinspires.ftc.teamcode.teleop;
import static org.firstinspires.ftc.teamcode.constants.Poses.teleStart; import static org.firstinspires.ftc.teamcode.constants.Poses.teleStart;
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos1; import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall1; import static org.firstinspires.ftc.teamcode.constants.ShooterVars.*;
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall2; import static org.firstinspires.ftc.teamcode.utils.PositionalServoProgrammer.*;
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall3;
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_in;
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.turrDefault;
import static org.firstinspires.ftc.teamcode.constants.ShooterVars.waitTransfer;
import static org.firstinspires.ftc.teamcode.constants.ShooterVars.waitTransferOut;
import static org.firstinspires.ftc.teamcode.tests.ShooterTest.kP;
import static org.firstinspires.ftc.teamcode.tests.ShooterTest.maxStep;
import static org.firstinspires.ftc.teamcode.utils.PositionalServoProgrammer.restPos;
import static org.firstinspires.ftc.teamcode.utils.PositionalServoProgrammer.scalar;
import com.acmerobotics.dashboard.FtcDashboard; import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.config.Config; import com.acmerobotics.dashboard.config.Config;

4
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/ShooterTest.java
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@@ -1,5 +1,7 @@
package org.firstinspires.ftc.teamcode.tests; package org.firstinspires.ftc.teamcode.tests;
import static org.firstinspires.ftc.teamcode.constants.ShooterVars.*;
import com.acmerobotics.dashboard.FtcDashboard; import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.config.Config; import com.acmerobotics.dashboard.config.Config;
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry; import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
@@ -17,8 +19,6 @@ public class ShooterTest extends LinearOpMode {
public static double parameter = 0.0; public static double parameter = 0.0;
// --- CONSTANTS YOU TUNE --- // --- CONSTANTS YOU TUNE ---
public static double MAX_RPM = 4500; // your measured max RPM public static double MAX_RPM = 4500; // your measured max RPM
public static double kP = 0.001; // small proportional gain (tune this)
public static double maxStep = 0.06; // prevents sudden jumps
//TODO: @Daniel FIX THE BELOW CONSTANTS A LITTLE IF NEEDED //TODO: @Daniel FIX THE BELOW CONSTANTS A LITTLE IF NEEDED
public static double transferPower = 0.0; public static double transferPower = 0.0;

35
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Flywheel.java
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@@ -13,15 +13,16 @@ public class Flywheel {
double stamp = 0.0; double stamp = 0.0;
double stamp1 = 0.0; double stamp1 = 0.0;
double ticker = 0.0; double ticker = 0.0;
double stamp2 = 0.0;
double currentPos = 0.0; double currentPos = 0.0;
boolean prevSteady = false;
double velo = 0.0; double velo = 0.0;
double prevVelo = 0.0; double velo1 = 0.0;
double velo2 = 0.0;
double velo3 = 0.0;
double velo4 = 0.0;
double velo5 = 0.0;
double targetVelocity = 0.0; double targetVelocity = 0.0;
double powPID = 0.0; double powPID = 0.0;
boolean steady = false; boolean steady = false;
public Flywheel () { public Flywheel () {
//robot = new Robot(hardwareMap); //robot = new Robot(hardwareMap);
} }
@@ -41,15 +42,22 @@ public class Flywheel {
public double manageFlywheel(int commandedVelocity, double shooter1CurPos) { public double manageFlywheel(int commandedVelocity, double shooter1CurPos) {
targetVelocity = (double) commandedVelocity; targetVelocity = commandedVelocity;
ticker++; ticker++;
if (ticker % 8 == 0) { if (ticker % 2 == 0) {
velo5 = velo4;
velo4 = velo3;
velo3 = velo2;
velo2 = velo1;
currentPos = shooter1CurPos / 2048; currentPos = shooter1CurPos / 2048;
stamp = getTimeSeconds(); //getRuntime(); stamp = getTimeSeconds(); //getRuntime();
velo = -60 * ((currentPos - initPos) / (stamp - stamp1)); velo1 = -60 * ((currentPos - initPos) / (stamp - stamp1));
initPos = currentPos; initPos = currentPos;
stamp1 = stamp; stamp1 = stamp;
velo = (velo1 + velo2 + velo3 + velo4 + velo5) / 5;
} }
// Flywheel control code here // Flywheel control code here
if (targetVelocity - velo > 500) { if (targetVelocity - velo > 500) {
@@ -74,19 +82,12 @@ public class Flywheel {
} }
// really should be a running average of the last 5 // really should be a running average of the last 5
if ((Math.abs(targetVelocity - velo) < 150.0) && (Math.abs(targetVelocity - prevVelo) < 150.0)) steady = (Math.abs(targetVelocity - velo) < 100.0);
{
steady = true;
}
else
{
steady = false;
}
return powPID; return powPID;
} }
public void update() public void update()
{ {
}; }
}; }