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to test new shooter

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This commit is contained in:
DanTheMan-byte
2026-01-03 16:07:14 -06:00
parent 21b4b0b4f5
commit a84891bc06
2 changed files with 9 additions and 8 deletions
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11
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Flywheel.java
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@@ -1,14 +1,11 @@
package org.firstinspires.ftc.teamcode.utils; package org.firstinspires.ftc.teamcode.utils;
import static org.firstinspires.ftc.teamcode.constants.ShooterVars.kP; import com.acmerobotics.dashboard.config.Config;
import static org.firstinspires.ftc.teamcode.constants.ShooterVars.maxStep;
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
@Config
public class Flywheel { public class Flywheel {
Robot robot; public static double kP = 0.001; // small proportional gain (tune this)
MultipleTelemetry TELE; public static double maxStep = 0.06; // prevents sudden jumps
double initPos = 0.0; double initPos = 0.0;
double stamp = 0.0; double stamp = 0.0;
double stamp1 = 0.0; double stamp1 = 0.0;

6
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Robot.java
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@@ -4,7 +4,9 @@ import static org.firstinspires.ftc.teamcode.variables.HardwareConfig.*;
import com.qualcomm.hardware.limelightvision.Limelight3A; import com.qualcomm.hardware.limelightvision.Limelight3A;
import com.qualcomm.hardware.rev.RevHubOrientationOnRobot; import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorEx; import com.qualcomm.robotcore.hardware.DcMotorEx;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.hardware.HardwareMap; import com.qualcomm.robotcore.hardware.HardwareMap;
import com.qualcomm.robotcore.hardware.IMU; import com.qualcomm.robotcore.hardware.IMU;
import com.qualcomm.robotcore.hardware.Servo; import com.qualcomm.robotcore.hardware.Servo;
@@ -30,8 +32,10 @@ public class Robot {
limelight3A = hardwareMap.get(Limelight3A.class, "limelight"); limelight3A = hardwareMap.get(Limelight3A.class, "limelight");
shooter1 = hardwareMap.get(DcMotorEx.class, "s1"); shooter1 = hardwareMap.get(DcMotorEx.class, "s1");
shooter2 = hardwareMap.get(DcMotorEx.class, "s2"); shooter2 = hardwareMap.get(DcMotorEx.class, "s2");
shooter1.setDirection(DcMotorSimple.Direction.REVERSE);
shooter1.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
shooter2.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
hood = hardwareMap.get(Servo.class, "hood"); hood = hardwareMap.get(Servo.class, "hood");