not sure if correct but turretsubsystem auto stubs filled #29
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| public class TurretSubsystem extends SubsystemBase implements Shooter { | ||
| /** Creates a new TurretSubsystem. */ | ||
| public TurretSubsystem() {} | ||
| public static double HOOD_GEAR_RATIO = 24.230769; |
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typically we leave this in terms of like x / y so it's easier to see what the gears actually are
| flywheelIO.updateInputs(flywheelInputs); | ||
| Logger.processInputs("Shooter/Flywheel", flywheelInputs); |
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make sure to also update and process hood inputs
| shooter = | ||
| new TurretSubsystem( | ||
| ROBOT_MODE == RobotMode.REAL | ||
| ? new FlywheelIO(FlywheelIO.getFlywheelConfiguration(), canivore) |
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make sure you're not using the same getFlywheelConfiguration and getHoodConfigurations as the alpha shooter. these will need to be new methods returning diff configs
| : new FlywheelIOSim(FlywheelIO.getFlywheelConfiguration(), canivore), | ||
| ROBOT_MODE == RobotMode.REAL | ||
| ? new HoodIO(HoodIO.getHoodConfiguration(), canivore) | ||
| : new HoodIOSim(canivore)); |
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also, hoodio should probably have the motor passed in to the constructor as it's not always going to be the same motor or have the same settings. this then also means hoodiosim needs to also have the motor passed in the constructor as well as the physics sim with the physical parameters specific to the mechanism. you could make like a static getAlphaHoodSim method if that makes it easier
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