From 658e8ea1d069daddaa04b60fd68b5876a449d02b Mon Sep 17 00:00:00 2001
From: Keshav Anand <keshavanand.dev@gmail.com>
Date: Mon, 25 May 2026 16:35:25 -0700
Subject: [PATCH] Added flywheel copied basically but added average velo
 calculations

---
 .../ftc/teamcode/utilsv2/Flywheel.java        | 131 ++++++++++++++++++
 1 file changed, 131 insertions(+)
 create mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/Flywheel.java

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/Flywheel.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/Flywheel.java
new file mode 100644
index 0000000..0e9f773
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/Flywheel.java
@@ -0,0 +1,131 @@
+package org.firstinspires.ftc.teamcode.utilsv2;
+
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.HardwareMap;
+
+import com.qualcomm.robotcore.hardware.PIDFCoefficients;
+
+import org.firstinspires.ftc.teamcode.utils.Robot;
+
+import java.util.LinkedList;
+
+public class Flywheel {
+    Robot robot;
+
+    public PIDFCoefficients shooterPIDF1, shooterPIDF2;
+
+    private double velo = 0.0;
+    private double velo1 = 0.0;
+    private double velo2 = 0.0;
+
+    private double averageVelocity = 0.0;
+
+    double targetVelocity = 0.0;
+
+    boolean steady = false;
+
+    private final LinkedList<Double> velocityHistory = new LinkedList<>();
+
+    public Flywheel(HardwareMap hardwareMap) {
+
+        robot = new Robot(hardwareMap);
+        shooterPIDF1 = new PIDFCoefficients(Robot.shooterPIDF_P, Robot.shooterPIDF_I, Robot.shooterPIDF_D, Robot.shooterPIDF_F);
+        shooterPIDF2 = new PIDFCoefficients(Robot.shooterPIDF_P, Robot.shooterPIDF_I, Robot.shooterPIDF_D, Robot.shooterPIDF_F);
+    }
+
+    public double getVelo() {
+        return velo;
+    }
+
+    public double getVelo1() {
+        return velo1;
+    }
+
+    public double getVelo2() {
+        return velo2;
+    }
+
+    public double getAverageVelocity() {
+        return averageVelocity;
+    }
+
+    public boolean getSteady() {
+        return steady;
+    }
+
+    // Set the robot PIDF for the next cycle.
+    private double prevF = 0;
+
+    public static double voltagePIDFDifference = 0.8;
+
+    public void setPIDF(double p, double i, double d, double f) {
+
+        shooterPIDF1.p = p;
+        shooterPIDF1.i = i;
+        shooterPIDF1.d = d;
+        shooterPIDF1.f = f;
+
+        shooterPIDF2.p = p;
+        shooterPIDF2.i = i;
+        shooterPIDF2.d = d;
+        shooterPIDF2.f = f;
+
+        if (Math.abs(prevF - f) > voltagePIDFDifference) {
+
+            robot.shooter1.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF1);
+
+            robot.shooter2.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF2);
+
+            prevF = f;
+        }
+    }
+
+    // Convert from RPM to Ticks per Second
+    private double RPM_to_TPS(double RPM) {
+        return (RPM * 28.0) / 60.0;
+    }
+
+    // Convert from Ticks per Second to RPM
+    private double TPS_to_RPM(double TPS) {
+        return (TPS * 60.0) / 28.0;
+    }
+
+    private void updateVelocityAverage(double newVelocity) {
+
+        velocityHistory.add(newVelocity);
+
+        int velocityHistorySize = 5;
+        if (velocityHistory.size() > velocityHistorySize) {
+            velocityHistory.removeFirst();
+        }
+
+        double sum = 0.0;
+
+        for (double v : velocityHistory) {
+            sum += v;
+        }
+
+        averageVelocity = sum / velocityHistory.size();
+    }
+
+    public void manageFlywheel(double commandedVelocity) {
+
+        if (Math.abs(targetVelocity - commandedVelocity) > 0.0001) {
+            targetVelocity = commandedVelocity;
+        }
+
+        robot.shooter1.setVelocity(RPM_to_TPS(targetVelocity));
+
+        robot.shooter2.setVelocity(RPM_to_TPS(targetVelocity));
+
+        velo1 = TPS_to_RPM(robot.shooter1.getVelocity());
+
+        velo2 = TPS_to_RPM(robot.shooter2.getVelocity());
+
+        velo = (velo1 + velo2) / 2.0;
+
+        updateVelocityAverage(velo);
+
+        steady = (Math.abs(commandedVelocity - averageVelocity) < 50);
+    }
+}
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