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Shooter code #8
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Shooter code #8
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rutmanz
previously approved these changes
Dec 10, 2023
| @@ -98,6 +98,7 @@ public void teleopInit() { | |||
| if (autonomousCommand != null) { | |||
| autonomousCommand.cancel(); | |||
| } | |||
| robotContainer.shooter.stop(); | |||
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why stop shooter on teleop init?
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Oh that's left over from testing. Since the closed loop setpoints are stored persistently on the Falcons, if I were to set the motor speed and then disable the robot, when I reenable the shooter would immediately spin up to the previous speed, which is not always desirable. This would probably get fixed by commands, so I'll remove it.
| private final AverageFilter averageFilter = new AverageFilter(20); // TODO: 11/28/2023 tune filter size | ||
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| private double setpoint = 0; | ||
| private boolean isClosedLoop = false; |
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ok but actually why do you need this variable? It's only used in isAtSetpoint to return false, which presumably would go unused when you're not trying to do closed loop control
src/main/java/org/team1540/bunnybotTank2023/io/shooter/ShooterIOReal.java
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rutmanz
approved these changes
Dec 10, 2023
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Shooter subsystem code, no commands yet since indexer code isn't done