idk

Gongoliers · Apr 11, 2024 · e9fb11e · e9fb11e
1 parent 5a6664c
commit e9fb11e
Show file tree

Hide file tree

Showing 4 changed files with 16 additions and 11 deletions.
diff --git a/src/main/java/frc/robot/arm/ArmConstants.java b/src/main/java/frc/robot/arm/ArmConstants.java
@@ -44,7 +44,7 @@ public static class ShoulderConstants {
     }
 
     /** Maximum speed of the shoulder in rotations per second. */
-    public static final double MAXIMUM_SPEED = Units.degreesToRotations(120.0);
+    public static final double MAXIMUM_SPEED = Units.degreesToRotations(240.0);
 
     /** Maximum acceleration of the shoulder in rotations per second per second. */
     public static final double MAXIMUM_ACCELERATION =
@@ -67,6 +67,6 @@ public static class ShoulderConstants {
 
     public static final Rotation2d SKIM = Rotation2d.fromDegrees(30);
 
-    public static final Rotation2d AMP = Rotation2d.fromDegrees(60);
+    public static final Rotation2d AMP = Rotation2d.fromDegrees(80);
   }
 }
diff --git a/src/main/java/frc/robot/shooter/Shooter.java b/src/main/java/frc/robot/shooter/Shooter.java
@@ -62,9 +62,10 @@ public void periodic() {
     setpoint = goal;
 
     double flywheelSetpoint = FlywheelConstants.ACCELERATION_LIMITER.calculate(setpoint.flywheelVelocityRotationsPerSecond());
+    double serializerSetpoint = SerializerConstants.ACCELERATION_LIMITER.calculate(setpoint.serializerVelocityRotationsPerSecond());
 
     flywheel.setSetpoint(flywheelSetpoint);
-    serializer.setSetpoint(setpoint.serializerVelocityRotationsPerSecond());
+    serializer.setSetpoint(serializerSetpoint);
   }
 
   @Override

diff --git a/src/main/java/frc/robot/shooter/ShooterConstants.java b/src/main/java/frc/robot/shooter/ShooterConstants.java
@@ -42,6 +42,8 @@ public static class SerializerConstants {
 
     /** Maximum speed in rotations per second. */
     public static final double MAXIMUM_SPEED = 45.319;
+
+    public static final SlewRateLimiter ACCELERATION_LIMITER = new SlewRateLimiter(MotionProfileCalculator.calculateAcceleration(MAXIMUM_SPEED, 0.1));
   }
 
   /** Constants for the flywheel motor used in the shooter subsystem. */
@@ -54,7 +56,7 @@ public static class FlywheelConstants {
 
     static {
       PIDF.kS = 0.14;
-      PIDF.kV = 0.2539;
+      PIDF.kV = 0.1969;
     }
 
     /** Flywheel's controller constants. */
@@ -67,15 +69,17 @@ public static class FlywheelConstants {
       CONTROLLER_CONSTANTS.sensorToMechanismRatio = 28.0 / 16.0;
     }
 
-    public static final double SPEAKER_SPEED = 44;
+    public static final double PULL_SPEED = -20;
+
+    public static final double SPEAKER_SPEED = 60;
 
-    public static final double PASS_SPEED = 44;
+    public static final double PASS_SPEED = 60;
 
     public static final double AMP_SPEED = 20;
 
     /** Maximum speed in rotations per second. */
-    public static final double MAXIMUM_SPEED = 46.711;
+    public static final double MAXIMUM_SPEED = 60;
 
-    public static final SlewRateLimiter ACCELERATION_LIMITER = new SlewRateLimiter(MotionProfileCalculator.calculateAcceleration(MAXIMUM_SPEED, 0.25));
+    public static final SlewRateLimiter ACCELERATION_LIMITER = new SlewRateLimiter(MotionProfileCalculator.calculateAcceleration(MAXIMUM_SPEED, 0.1));
   }
 }
diff --git a/src/main/java/frc/robot/shooter/ShooterState.java b/src/main/java/frc/robot/shooter/ShooterState.java
@@ -13,7 +13,7 @@ public record ShooterState(
 
   public static final ShooterState INTAKE = new ShooterState(0, SerializerConstants.INTAKE_SPEED);
 
-  public static final ShooterState PULL = new ShooterState(0, SerializerConstants.PULL_SPEED);
+  public static final ShooterState PULL = new ShooterState(FlywheelConstants.PULL_SPEED, SerializerConstants.PULL_SPEED);
 
   public static final ShooterState EJECT = new ShooterState(0, SerializerConstants.EJECT_SPEED);
 
@@ -34,8 +34,8 @@ public record ShooterState(
 
   public boolean at(ShooterState other) {
     return MathUtil.isNear(
-            flywheelVelocityRotationsPerSecond, other.flywheelVelocityRotationsPerSecond, 2.5)
+            flywheelVelocityRotationsPerSecond, other.flywheelVelocityRotationsPerSecond, 5)
         && MathUtil.isNear(
-            serializerVelocityRotationsPerSecond, other.serializerVelocityRotationsPerSecond, 2.5);
+            serializerVelocityRotationsPerSecond, other.serializerVelocityRotationsPerSecond, 5);
   }
 }