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Event/chezy2026 #144

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e2852ec
Lowered speed of shooter by 3 rps to both min and max shooter speed.
spderman3333 Sep 19, 2026
38b6619
Increased min shooter speed.
spderman3333 Sep 19, 2026
85b7672
Increased auto speeds over bump, not on the 2.5 bump
spderman3333 Sep 19, 2026
86728cc
Update at 'Sun Sep 20 13:33:35 PDT 2026'
spderman3333 Sep 20, 2026
fbd75b3
Fix follower
spderman3333 Sep 20, 2026
1358d5f
Update at 'Sun Sep 20 13:50:40 PDT 2026'
spderman3333 Sep 20, 2026
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31 changes: 22 additions & 9 deletions src/main/deploy/pathplanner/paths/Trench FL-mid-bump-left shot pos.path
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Original file line number Diff line number Diff line change
Expand Up @@ -68,24 +68,24 @@
"y": 5.5595860927152305
},
"prevControl": {
"x": 5.282624057650272,
"y": 5.542529628143782
"x": 5.282506242801578,
"y": 5.532923467094039
},
"nextControl": {
"x": 1.9828973509933765,
"y": 5.574105960264898
"x": 1.1925534950071324,
"y": 5.594108416547789
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 2.9339486754966884,
"y": 5.051390728476821
"x": 2.809885877318117,
"y": 5.076562054208274
},
"prevControl": {
"x": 2.360413907284768,
"y": 5.305488410596026
"x": 2.2363511091061965,
"y": 5.33065973632748
},
"nextControl": null,
"isLocked": false,
Expand All @@ -112,7 +112,7 @@
],
"constraintZones": [
{
"name": "Constraints Zone",
"name": "Slow Intake",
"minWaypointRelativePos": 0.19021739130434828,
"maxWaypointRelativePos": 1.8688693856479086,
"constraints": {
Expand All @@ -123,6 +123,19 @@
"nominalVoltage": 12.0,
"unlimited": false
}
},
{
"name": "Faster Over Bump",
"minWaypointRelativePos": 2.764105642256889,
"maxWaypointRelativePos": 3.880552220888336,
"constraints": {
"maxVelocity": 8.0,
"maxAcceleration": 5.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,
"unlimited": false
}
}
],
"pointTowardsZones": [],
Expand Down
21 changes: 17 additions & 4 deletions src/main/deploy/pathplanner/paths/Trench FR-mid-bump-right shot pos.path
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Original file line number Diff line number Diff line change
Expand Up @@ -84,8 +84,8 @@
"y": 3.018609271523179
},
"prevControl": {
"x": 2.3967135761589407,
"y": 3.2727069536423845
"x": 1.7359771754636228,
"y": 2.7993580599144083
},
"nextControl": null,
"isLocked": false,
Expand All @@ -112,8 +112,8 @@
],
"constraintZones": [
{
"name": "Constraints Zone",
"minWaypointRelativePos": 0.19798136645962736,
"name": "Slow Intake",
"minWaypointRelativePos": 0.2,
"maxWaypointRelativePos": 1.8688693856479086,
"constraints": {
"maxVelocity": 2.5,
Expand All @@ -123,6 +123,19 @@
"nominalVoltage": 12.0,
"unlimited": false
}
},
{
"name": "Faster Over Bump",
"minWaypointRelativePos": 2.76,
"maxWaypointRelativePos": 3.88,
"constraints": {
"maxVelocity": 8.0,
"maxAcceleration": 5.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,
"unlimited": false
}
}
],
"pointTowardsZones": [],
Expand Down
8 changes: 4 additions & 4 deletions src/main/deploy/pathplanner/paths/left 2.5 pass.path
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Original file line number Diff line number Diff line change
Expand Up @@ -3,13 +3,13 @@
"waypoints": [
{
"anchor": {
"x": 2.9339486754966884,
"y": 5.051390728476821
"x": 2.809885877318117,
"y": 5.076562054208274
},
"prevControl": null,
"nextControl": {
"x": 1.6643285940496975,
"y": 6.549526550648494
"x": 1.5402657958711259,
"y": 6.574697876379948
},
"isLocked": false,
"linkedName": "DRUM-Left Shot pos"
Expand Down
31 changes: 22 additions & 9 deletions src/main/deploy/pathplanner/paths/left shot pos-trench-hairpin-bump-left shot pos.path
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -3,13 +3,13 @@
"waypoints": [
{
"anchor": {
"x": 2.9339486754966884,
"y": 5.051390728476821
"x": 2.809885877318117,
"y": 5.076562054208274
},
"prevControl": null,
"nextControl": {
"x": 2.454793046357616,
"y": 7.178551324503311
"x": 2.3307302481790444,
"y": 7.203722650234765
},
"isLocked": false,
"linkedName": "DRUM-Left Shot pos"
Expand Down Expand Up @@ -128,12 +128,12 @@
},
{
"anchor": {
"x": 2.9339486754966884,
"y": 5.051390728476821
"x": 2.809885877318117,
"y": 5.076562054208274
},
"prevControl": {
"x": 2.2587748344370855,
"y": 5.595885761589403
"x": 1.4642653352353778,
"y": 5.490599144079885
},
"nextControl": null,
"isLocked": false,
Expand Down Expand Up @@ -168,7 +168,7 @@
],
"constraintZones": [
{
"name": "Constraints Zone",
"name": "Slow Intake",
"minWaypointRelativePos": 2.6742385131646964,
"maxWaypointRelativePos": 5.2,
"constraints": {
Expand All @@ -179,6 +179,19 @@
"nominalVoltage": 12.0,
"unlimited": false
}
},
{
"name": "Faster Over Bump",
"minWaypointRelativePos": 5.7671068427370775,
"maxWaypointRelativePos": 6.84,
"constraints": {
"maxVelocity": 8.0,
"maxAcceleration": 5.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,
"unlimited": false
}
}
],
"pointTowardsZones": [],
Expand Down
19 changes: 16 additions & 3 deletions src/main/deploy/pathplanner/paths/right shot pos-trench-hairpin-bump-right shot pos.path
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Original file line number Diff line number Diff line change
Expand Up @@ -132,8 +132,8 @@
"y": 3.018609271523179
},
"prevControl": {
"x": 1.844958609271523,
"y": 2.510413907284768
"x": 1.3866333808844504,
"y": 2.5923395149786024
},
"nextControl": null,
"isLocked": false,
Expand Down Expand Up @@ -168,7 +168,7 @@
],
"constraintZones": [
{
"name": "Constraints Zone",
"name": "Slow Intake",
"minWaypointRelativePos": 2.992256066081573,
"maxWaypointRelativePos": 4.9943211151264695,
"constraints": {
Expand All @@ -179,6 +179,19 @@
"nominalVoltage": 12.0,
"unlimited": false
}
},
{
"name": "Faster Over Bump",
"minWaypointRelativePos": 6.132052821128415,
"maxWaypointRelativePos": 6.842737094837935,
"constraints": {
"maxVelocity": 8.0,
"maxAcceleration": 5.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,
"unlimited": false
}
}
],
"pointTowardsZones": [],
Expand Down
6 changes: 3 additions & 3 deletions src/main/java/com/team2813/commands/VariableShooterCommand.java
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Original file line number Diff line number Diff line change
Expand Up @@ -14,17 +14,17 @@
public class VariableShooterCommand {
// TODO: Tweak the speeds and distance after pinnacles if we have time.
private static final AngularVelocity MIN_SPEED =
RotationsPerSecond.of(36); // 2 meters. Hub shot speed.
RotationsPerSecond.of(34); // 2 meters. Hub shot speed.
private static final AngularVelocity MAX_SPEED =
RotationsPerSecond.of(55); // 5 meters from hub speed.
RotationsPerSecond.of(52); // 5 meters from hub speed.

// Hub to square edge is 1.3 meters based on the HubStatus/Utils calculation .
// Get these values off of the /AdvantageKit/RealOutputs/HubStatus/Distance To Our Hub (Meters)
public static final Distance MIN_DIST = Meters.of(2.0);
public static final Distance MAX_DIST = Meters.of(5.0);

/**
* Calculates the speed to shoot at if between the 1.5/3.1 MIN/MAX distance.
* Calculates the speed to shoot at if between the 2.0/5.0 MIN/MAX distance.
*
* @param shooter Instance of the shooter class to apply the calculated speed to.
* @param distanceSupplier A supplier of the distance from the hub
Expand Down
13 changes: 13 additions & 0 deletions src/main/java/com/team2813/subsystems/shooter/ShooterIOReal.java
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Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,9 @@ public class ShooterIOReal implements ShooterIO {
private TalonFX upperRightShooterMotor;
private TalonFX lowerRightShooterMotor;

// private Follower rightShooterFollower;
// private Follower leftShooterFollower;

private TalonFX upperLeftShooterMotor;
private TalonFX lowerLeftShooterMotor;

Expand All @@ -31,12 +34,20 @@ public ShooterIOReal() {
.getConfigurator()
.apply(ShooterConstants.LOWER_RIGHT_SHOOTER_MOTOR_CONFIG);

// rightShooterFollower =
// new Follower(Constants.UPPER_RIGHT_SHOOTER_MOTOR_ID, MotorAlignmentValue.Aligned);
// lowerRightShooterMotor.setControl(rightShooterFollower);

upperLeftShooterMotor = new TalonFX(Constants.UPPER_LEFT_SHOOTER_MOTOR_ID);
upperLeftShooterMotor.getConfigurator().apply(ShooterConstants.UPPER_LEFT_SHOOTER_MOTOR_CONFIG);

lowerLeftShooterMotor = new TalonFX(Constants.LOWER_LEFT_SHOOTER_MOTOR_ID);
lowerLeftShooterMotor.getConfigurator().apply(ShooterConstants.LOWER_LEFT_SHOOTER_MOTOR_CONFIG);

// leftShooterFollower =
// new Follower(Constants.UPPER_LEFT_SHOOTER_MOTOR_ID, MotorAlignmentValue.Aligned);
// lowerLeftShooterMotor.setControl(leftShooterFollower);

shooterVelocityControl = new VelocityVoltage(RotationsPerSecond.of(0));
}

Expand Down Expand Up @@ -93,8 +104,10 @@ public void setShooterMotorVelocity(AngularVelocity shooterMotorVelocity) {
// AngularVelocity converting its value (i.e. Rot/s) to the base unit (rad/s)
upperRightShooterSetpoint = shooterMotorVelocity;
upperRightShooterMotor.setControl(shooterVelocityControl.withVelocity(shooterMotorVelocity));
lowerRightShooterMotor.setControl(shooterVelocityControl);
// same velocity
upperLeftShooterMotor.setControl(shooterVelocityControl);
lowerLeftShooterMotor.setControl(shooterVelocityControl);
}

@Override
Expand Down
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