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Fix flywheel velocity naming conventions in ShooterSetpoint #3

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Fix flywheel velocity naming conventions in ShooterSetpoint #3

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31 changes: 9 additions & 22 deletions src/main/java/frc/robot/subsystems/Shooter/Shooter.java
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Original file line number Diff line number Diff line change
Expand Up @@ -213,7 +213,8 @@ public static Pose2d getShooterPose(Pose2d robotPose) {
rotatedShooter.getRotation());
}

ShooterSetpoint lastShooterSetpoint = new ShooterSetpoint(MetersPerSecond.zero(), Degrees.of(5));
ShooterSetpoint lastShooterSetpoint =
new ShooterSetpoint(RotationsPerSecond.zero(), Degrees.of(5));
/**
* @return The speed and position of the shooter to shoot into the hub.
*/
Expand Down Expand Up @@ -310,21 +311,8 @@ public Command runShooterControl() {
// })
// .withName("Shooter Tuning");
// TODO: REPLACE HUB WITH VARIABLE TARGET
// return run(() -> {
// setFlywheelVelocityInternal(RotationsPerSecond.of(tunableShooterSpeed.get()));
// setHoodAngleInternal(Degrees.of(tunableHoodAngle.get()));
// })
// .withName("Shooter Tuning");
// TODO: REPLACE HUB WITH VARIABLE TARGET
// Joe: The LUT returns flywheelSurfaceSpeed as m/s, but setFlywheelVelocityInternal expects
// RPS — wrapping m/s in RotationsPerSecond.of() won't give the right value, right? Should we
// use convertLinearVelocityToAngular() here?
return run(() -> {
setFlywheelVelocityInternal(
RotationsPerSecond.of(
getCurrentSetpoint(getHubLocation2d())
.flywheelSurfaceSpeed()
.in(MetersPerSecond)));
setFlywheelVelocityInternal(getCurrentSetpoint(getHubLocation2d()).flywheelVelocity());
setHoodAngleInternal(calculateHoodAngle());
})
.withName("Shooter control");
Expand All @@ -343,16 +331,15 @@ public Command setFlywheelVelocity(AngularVelocity velocity) {
* @return The target angular velocity for the flywheel
*/
public AngularVelocity targetVelocity() {
return convertLinearVelocityToAngular(
getCurrentSetpoint(getHubLocation2d()).flywheelSurfaceSpeed());
return getCurrentSetpoint(getHubLocation2d()).flywheelVelocity();
}

// TODO: REPLACE HUB WITH VARIABLE TARGET
/**
* @return The target linear velocity for the flywheel
* @return The target angular velocity for the flywheel
*/
public LinearVelocity targetLinearVelocity() {
return getCurrentSetpoint(getHubLocation2d()).flywheelSurfaceSpeed();
public AngularVelocity targetFlywheelVelocity() {
return getCurrentSetpoint(getHubLocation2d()).flywheelVelocity();
}

/**
Expand Down Expand Up @@ -613,8 +600,8 @@ public void shootSimulatedProjectile() {
chassisSpeeds.get(), drivetrainPose.get().getRotation()),
kMapleSimSHooterRotationAlsoNotJank.plus(simPose.get().getRotation()),
kShooterHeight,
getCurrentSetpoint(getHubLocation2d())
.flywheelSurfaceSpeed()
convertAngularVelocityToLinear(
getCurrentSetpoint(getHubLocation2d()).flywheelVelocity())
.times(kEstimatedFlywheelSpeedToFuelSpeed),
getCurrentSetpoint(getHubLocation2d()).rotation().plus(Degrees.of(90))));
}
Expand Down
2 changes: 1 addition & 1 deletion src/main/java/frc/robot/subsystems/Shooter/ShooterConstants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -94,7 +94,7 @@ protected static TalonFXConfiguration generateHoodConfig(
return config;
}

protected static final double kEstimatedFlywheelSpeedToFuelSpeed = 0.3;
protected static final double kEstimatedFlywheelSpeedToFuelSpeed = 0.33;

public static final TalonFXConfiguration kFlyWheelConfig =
generateFlywheelConfig(
Expand Down
59 changes: 23 additions & 36 deletions src/main/java/frc/robot/subsystems/Shooter/ShooterLUT.java
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Original file line number Diff line number Diff line change
Expand Up @@ -12,14 +12,14 @@
import java.util.Optional;

public class ShooterLUT {
public record ShooterSetpoint(LinearVelocity flywheelSurfaceSpeed, Angle rotation) {}
public record ShooterSetpoint(AngularVelocity flywheelVelocity, Angle rotation) {}

public record SOTMSetpoint(
ShooterSetpoint shooterSetpoint, Rotation2d robotRotation, Pose2d iteratedPose) {}

public static ShooterSetpoint getSpeedAndRotation(Distance distance) {
return new ShooterSetpoint(
MetersPerSecond.of(kShooterSpeedMap.get(distance.in(Meters))),
RotationsPerSecond.of(kShooterSpeedMap.get(distance.in(Meters))),
Degrees.of(kShooterAngleMap.get(distance.in(Meters))));
}

Expand Down Expand Up @@ -64,8 +64,6 @@ public static Optional<SOTMSetpoint> generateShootOnTheMoveSetpoint(
private static InterpolatingDoubleTreeMap generateSpeedMap() {
var map = new InterpolatingDoubleTreeMap();
if (RobotBase.isReal()) {
// Joe: These values are supposed to be flywheel surface speed in m/s, but 60-80 seems really
// high for m/s — are these actually RPS from the old shooter? Might need retuning.
map.put(1.041, 60.0);
map.put(1.92, 65.0);
map.put(2.31, 65.0);
Expand All @@ -74,18 +72,13 @@ private static InterpolatingDoubleTreeMap generateSpeedMap() {
map.put(5.71, 92.0);
map.put(7.37, 103.0);
} else {
map.put(1.25, 25.2);
map.put(1.5, 26.5);
map.put(1.7, 26.8);
map.put(2.0, 27.0);
map.put(2.5, 27.5);
map.put(3.0, 28.1);
map.put(3.5, 28.5);
map.put(4.0, 29.2);
map.put(4.5, 29.9);
map.put(5.0, 30.4);
map.put(5.5, 30.8);
map.put(6.0, 31.5);
map.put(1.041, 60.0);
map.put(1.92, 65.0);
map.put(2.31, 65.0);
map.put(3.25, 72.0);
map.put(4.17, 78.0);
map.put(5.71, 92.0);
map.put(7.37, 103.0);
}
return map;
}
Expand All @@ -101,16 +94,13 @@ private static InterpolatingDoubleTreeMap generateAngleMap() {
map.put(5.71, 32.0);
map.put(7.37, 43.0);
} else {
map.put(1.5, 8.56);
map.put(2.0, 11.32);
map.put(2.5, 13.63);
map.put(3.0, 15.76);
map.put(3.5, 18.04);
map.put(4.0, 20.18);
map.put(4.5, 22.24);
map.put(5.0, 24.27);
map.put(5.5, 26.23);
map.put(6.0, 28.14);
map.put(1.041, 18.0);
map.put(1.92, 23.0);
map.put(2.31, 24.0);
map.put(3.25, 27.5);
map.put(4.17, 29.0);
map.put(5.71, 32.0);
map.put(7.37, 43.0);
}
return map;
}
Expand All @@ -126,16 +116,13 @@ private static InterpolatingDoubleTreeMap generateTOFMap() {
map.put(5.71, 1.64);
map.put(7.37, 1.59);
} else {
map.put(1.5, 1.1833);
map.put(2.0, 1.16);
map.put(2.5, 1.33);
map.put(3.0, 1.216);
map.put(3.5, 1.26);
map.put(4.0, 1.33);
map.put(4.5, 1.33);
map.put(5.0, 1.3);
map.put(5.5, 1.33);
map.put(6.0, 0.7);
map.put(1.041, 1.516);
map.put(1.92, 1.651);
map.put(2.31, 1.996);
map.put(3.25, 1.991);
map.put(4.17, 1.486);
map.put(5.71, 1.64);
map.put(7.37, 1.59);
}
return map;
}
Expand Down