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coded minimum and maximum angles for the angleShooterSubystem #59

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merged 1 commit into from
Feb 13, 2024
Merged

coded minimum and maximum angles for the angleShooterSubystem #59

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2 changes: 2 additions & 0 deletions src/main/java/frc/robot/settings/Constants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -275,6 +275,8 @@ public static final class ShooterConstants{
public static final double DEGREES_PER_ROTATION = 2491;
public static final double DISTANCE_MULTIPLIER = 0;
public static final double OFFSET_MULTIPLIER = 1;
public static final double MINIMUM_SHOOTER_ANGLE = 10;//still has to be found
public static final double MAXIMUM_SHOOTER_ANGLE = 120;//still has to be found



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6 changes: 6 additions & 0 deletions src/main/java/frc/robot/subsystems/AngleShooterSubsystem.java
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Expand Up @@ -99,6 +99,12 @@ public double calculateSpeakerAngleDifference() {
double desiredShooterAngle = Math
.toDegrees(Math.asin(Field.SPEAKER_Z - ShooterConstants.SHOOTER_HEIGHT / totalDistToSpeaker));
desiredShooterAngle = desiredShooterAngle+(speakerDist*DISTANCE_MULTIPLIER);
if(desiredShooterAngle<ShooterConstants.MINIMUM_SHOOTER_ANGLE) {
desiredShooterAngle = ShooterConstants.MINIMUM_SHOOTER_ANGLE;
}
if(desiredShooterAngle>ShooterConstants.MAXIMUM_SHOOTER_ANGLE) {
desiredShooterAngle = ShooterConstants.MAXIMUM_SHOOTER_ANGLE;
}
SmartDashboard.putNumber("desired shooter angle", desiredShooterAngle);

double differenceAngle = (desiredShooterAngle - this.getShooterAngle());
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