KeshavAnandCode/FTCDecodeMain
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fixed issue - two flywheel instances created a conflict

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This commit is contained in:
DanTheMan-byte
2026-06-03 10:18:13 -05:00
parent 47c505742a
commit 12e5fba938
3 changed files with 6 additions and 7 deletions
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2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/NewShooterTest.java
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@@ -70,6 +70,7 @@ public class NewShooterTest extends LinearOpMode {
robot.setHoodPos(hoodPos); robot.setHoodPos(hoodPos);
shooter.setTurretPosition(turretPos); shooter.setTurretPosition(turretPos);
shooter.setFlywheelVelocity(flywheel); shooter.setFlywheelVelocity(flywheel);
rpmFlywheel.manageFlywheel(shooter.getFlywheelVelocity());
double voltage = robot.voltage.getVoltage(); double voltage = robot.voltage.getVoltage();
rpmFlywheel.setPIDF(shooterP, shooterI, shooterD, shooterF / voltage); rpmFlywheel.setPIDF(shooterP, shooterI, shooterD, shooterF / voltage);
@@ -132,6 +133,7 @@ public class NewShooterTest extends LinearOpMode {
TELE.addData("Flywheel Velocity2", (robot.shooter2.getVelocity() * 60) / 28); TELE.addData("Flywheel Velocity2", (robot.shooter2.getVelocity() * 60) / 28);
TELE.addData("Flywheel Averag Velocity", rpmFlywheel.getAverageVelocity()); TELE.addData("Flywheel Averag Velocity", rpmFlywheel.getAverageVelocity());
TELE.addData("PIDF Coefficients", Flywheel.shooterPIDF); TELE.addData("PIDF Coefficients", Flywheel.shooterPIDF);
TELE.addData("Power", rpmFlywheel.getShooterPower());
TELE.update(); TELE.update();
shooter.update(); shooter.update();

4
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/Flywheel.java
View File

@@ -107,6 +107,7 @@ public class Flywheel {
averageVelocity = sum / velocityHistory.size(); averageVelocity = sum / velocityHistory.size();
} }
double power;
public void manageFlywheel(double commandedVelocity) { public void manageFlywheel(double commandedVelocity) {
if (Math.abs(targetVelocity - commandedVelocity) > 0.0001) { if (Math.abs(targetVelocity - commandedVelocity) > 0.0001) {
@@ -114,7 +115,7 @@ public class Flywheel {
} }
robot.shooter1.setVelocity(RPM_to_TPS(targetVelocity)); robot.shooter1.setVelocity(RPM_to_TPS(targetVelocity));
double power = robot.shooter1.getPower(); power = robot.shooter1.getPower();
robot.shooter2.setPower(power); robot.shooter2.setPower(power);
velo1 = TPS_to_RPM(robot.shooter1.getVelocity()); velo1 = TPS_to_RPM(robot.shooter1.getVelocity());
@@ -127,4 +128,5 @@ public class Flywheel {
steady = (Math.abs(commandedVelocity - averageVelocity) < 50); steady = (Math.abs(commandedVelocity - averageVelocity) < 50);
} }
public double getShooterPower(){return power;}
} }

7
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/Shooter.java
View File

@@ -68,7 +68,7 @@ public class Shooter {
public void setFlywheelVelocity(double input) { public void setFlywheelVelocity(double input) {
this.flywheelVelocity = input; this.flywheelVelocity = input;
} }
public double getFlywheelVelocity(){return this.flywheelVelocity;}
public int getObeliskID() { public int getObeliskID() {
return turr.getObeliskID(); return turr.getObeliskID();
} }
@@ -80,7 +80,6 @@ public class Shooter {
case NOTHING: case NOTHING:
break; break;
case MANUAL: case MANUAL:
fly.manageFlywheel(flywheelVelocity);
turr.manual(turretPosition); turr.manual(turretPosition);
break; break;
case TRACK_GOAL: case TRACK_GOAL:
@@ -104,7 +103,6 @@ public class Shooter {
follow.getAcceleration().getYComponent() follow.getAcceleration().getYComponent()
); );
fly.manageFlywheel(flywheelVelocity);
break; break;
case READ_OBELISK: case READ_OBELISK:
turr.trackObelisk( turr.trackObelisk(
@@ -122,7 +120,6 @@ public class Shooter {
follow.getAcceleration().getYComponent() follow.getAcceleration().getYComponent()
); );
fly.manageFlywheel(flywheelVelocity);
break; break;
case MANUAL_TURRET_TRACK_FLY: case MANUAL_TURRET_TRACK_FLY:
@@ -136,7 +133,6 @@ public class Shooter {
follow.getAcceleration().getYComponent() follow.getAcceleration().getYComponent()
); );
fly.manageFlywheel(flywheelVelocity);
break; break;
case MANUAL_FLYWHEEL_TRACK_TURR: case MANUAL_FLYWHEEL_TRACK_TURR:
@@ -150,7 +146,6 @@ public class Shooter {
follow.getVelocity().getYComponent(), follow.getVelocity().getYComponent(),
follow.getAcceleration().getYComponent() follow.getAcceleration().getYComponent()
); );
fly.manageFlywheel(flywheelVelocity);
break; break;
} }