Program Shooter (Subteam Training)

ArvickC commented 1 year ago

Software will be programming a shooter/turret as subteam training.

ArvickC commented 1 year ago

Shooter has been wired and built, currently in testing for programming

TejaKoripellaUwU commented 12 months ago

Programming's Task: This is one of the highest priority preseason tasks for programming so this is what we have to do IN ADDITION to creating a basic shooter subsystem:

We will use the shooter development as a conduit to test our onboard VELOCITY PID skills using falcons, something we have not done before.
We will be programming the Flywheel for basic physics simulations as well, to determine the end position of our game piece depending on the speed of our flywheel
We will also be using the flywheel as an opportunity to test out Motion Magic, a premade form of Motion Profiling in Falcons. -Lastly we will be experimenting with feedforward capabilities with the kF variable

Useful links: PID tuning with phoenix tuner: https://youtube.com/watch?v=ulIbSVq6PC4

Motion Magic, kF calculations, and API for talon FX motor controllers: https://v5.docs.ctr-electronics.com/en/stable/ch16_ClosedLoop.html#setting-motion-magic-cruise-velocity-and-acceleration

Flywheel exit velocity physics: https://www.youtube.com/watch?v=g8lGrWJ6BHc&t=324s

packofparts / frc2024

Program Shooter (Subteam Training) #161