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flywheel test complete - need to tune maxStep and kp once on robot

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This commit is contained in:
DanTheMan-byte
2026-01-08 21:06:36 -06:00
parent 506e45ac19
commit 0c9e8c3287
2 changed files with 2 additions and 3 deletions
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3
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/ShooterTest.java
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@@ -5,7 +5,6 @@ import com.acmerobotics.dashboard.config.Config;
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry; import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp; import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorEx; import com.qualcomm.robotcore.hardware.DcMotorEx;
import org.firstinspires.ftc.teamcode.utils.Flywheel; import org.firstinspires.ftc.teamcode.utils.Flywheel;
@@ -43,7 +42,7 @@ public class ShooterTest extends LinearOpMode {
rightShooter.setPower(parameter); rightShooter.setPower(parameter);
leftShooter.setPower(parameter); leftShooter.setPower(parameter);
} else if (mode == 1) { } else if (mode == 1) {
double powPID = flywheel.manageFlywheel1((int) parameter, leftShooter.getCurrentPosition(), rightShooter.getCurrentPosition()); double powPID = flywheel.manageFlywheel((int) parameter, leftShooter.getCurrentPosition(), rightShooter.getCurrentPosition());
rightShooter.setPower(powPID); rightShooter.setPower(powPID);
leftShooter.setPower(powPID); leftShooter.setPower(powPID);
TELE.addData("PIDPower", powPID); TELE.addData("PIDPower", powPID);

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Flywheel.java
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@@ -69,7 +69,7 @@ public class Flywheel {
return (double) System.currentTimeMillis() / 1000.0; return (double) System.currentTimeMillis() / 1000.0;
} }
public double manageFlywheel1(int commandedVelocity, double shooter1CurPos, double shooter2CurPos) { public double manageFlywheel(int commandedVelocity, double shooter1CurPos, double shooter2CurPos) {
targetVelocity = commandedVelocity; targetVelocity = commandedVelocity;
velo = getVelo(shooter1CurPos, shooter2CurPos); velo = getVelo(shooter1CurPos, shooter2CurPos);
// Flywheel PID code here // Flywheel PID code here