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FRC2706 / 2020-2706-Robot-Code

The Robot Code for the 2020 FIRST Robotics Competition INFINITE RECHARGE
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Shooter Subsystem - Issue #45 #68

Closed LaraLim closed 4 years ago

LaraLim commented 4 years ago

ShooterSubsystem, Config, and the SpinUpShooter command currently use some protobot-specific values, like the CAN ID constant and PID values. This pull request will not be merged until the code is properly tested on protobot. Parts of the code that are relevant only to protobot will then be changed or removed.

georgetzavelas commented 4 years ago

Looks like you need a rebase

Lockscout commented 4 years ago

Alright, so here's what we've concluded after testing today.

The shooter ramping, and pid works great! Of course it still needs a bit of tuning, but overall it works good.

There is one issue with it. After you turn on the robot, or upload new code to the roboRIO, The target speed is always set to 2000 (as that's what the default is) and causes it to ramp up to that rpm when its enabled, until you hit the button once to set the target to 0. What might need to be done is when the robot is initializing, set the target to 0.