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Feb 15, 2026
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| public static final double shooterkP = 0.5; | ||
| public static final double shooterkI = 0.0; | ||
| public static final double shooterkD = 0.0; | ||
| public static final double shooterkV = 0.0; | ||
| public static final double shooterkA = 0.0; | ||
| public static final double shooterkG = 0.0; | ||
| public static final double shooterkS = 0.0; | ||
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| public class MotionMagic { | ||
| // hood | ||
| public static final double hoodkP = 0.0; | ||
| public static final double hoodkI = 0.0; | ||
| public static final double hoodkD = 0.0; | ||
| public static final double hoodkV = 0.0; | ||
| public static final double hoodkA = 0.0; | ||
| public static final double hoodkG = 0.0; | ||
| public static final double hoodkS = 0.0; | ||
| } | ||
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| // shooter | ||
| public static final double shooterkMaxVelocity = 1000.0; | ||
| public static final double shooterkMaxAcceleration = 3000.0; | ||
| public static final double shooterkJerk = 0.0; | ||
| } | ||
| public class MotionMagic { | ||
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| // shooter | ||
| public static final double shooterkMaxVelocity = 0.0; | ||
| public static final double shooterkMaxAcceleration = 300.0; | ||
| public static final double shooterkJerk = 0.0; | ||
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| // hood | ||
| public static final double hoodkMaxVelocity = 0.0; | ||
| public static final double hoodkMaxAcceleration = 300.0; | ||
| public static final double hoodkJerk = 0.0; | ||
| } |
Collaborator
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Why do these change? The shooter has been tuned based on the real life shooter, did you accidentally leave in some constants?
| ? ShooterConstants.Positions.blueHubPose | ||
| : ShooterConstants.Positions.redHubPose; | ||
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| var hubTranslation = drivebase_.getPose().getTranslation().minus(hub); |
Collaborator
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Right now the simulator seems to point in the exact opposite direction of the hub, you can try it out to check this, but maybe you could fix it by swapping the direction of this subtraction, and subtracting the drivebase pose from the hub pose, making the transformation be from the robot to the hub, not from the hub to the robot.
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Tested in simulator and seems to work