Added a shooter subsystem #44
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the-sun-x
requested review from
MikeKantrowitz,
armadilloz and
batchen1
as code owners
armadilloz
requested changes
Feb 10, 2026
| public static final int ANGLER_MOTOR_ID = 6; | ||
| public static final int HOPPER_MOTOR_ID = 4; | ||
| public static final int FEEDER_MOTOR_ID = 5; | ||
| public static final int SHOOTER_MOTOR_ID = 8; |
Contributor
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I think we should add a similar pair of constants to the constantsTestbed so that we can test on the testbed (even if they are commented out or set to some invalid value
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| public void setSpeed(double speed) { |
Contributor
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Add a comment on the units the method expects (this actually takes power value in -1 to +1)
| io.stopMotor(); | ||
| } | ||
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| public void setPidPosition(double position) { |
Contributor
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I don't think the shooter ever expects a position
| io.setPidPosition(position); | ||
| } | ||
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| public void setPidVelocity(double velocity) { |
Contributor
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Add a comment that explains the expected units (this is speed in RPM)
| import frc.robot.subsystems.ShooterSubsystem; | ||
| import frc.robot.utils.logging.commands.LoggableCommand; | ||
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| public class SpinShooter extends LoggableCommand{ |
Contributor
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Two comments on the command:
- The command needs a timeout
- The command should rely on speed (velocity) to set for the subsystem, so that we can handle whatever calculation we need that ends up with the auto-aiming.
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