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Ensure ShooterIO is correct for robot hardware and tune shooter PID #31

Closed jkleiber closed 1 month ago

jkleiber commented 1 month ago

Purpose The purpose of this ticket is to ensure the shooter flywheels are ready to go for integration on Wednesday October 9th

This is only for the shooter flywheels, not the aimer. the aimer is being worked in #29

We need to make sure the shooter IO is actually correct for the real robot hardware. Additionally, we need a way to tune the PID gains in shop. This ticket will also be used to tune the shooter

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jkleiber commented 1 month ago

@minhnguyenbhs can you have this ready by tomorrow?

minhnguyenbhs commented 1 month ago

@jkleiber The flywheels were running when we had the arm last week and I've hopefully fixed the kicker vs. intake motor error, although I can check that later today! should I add SmartDashboard widgets for editing gains?

jkleiber commented 1 month ago

@minhnguyenbhs Adding smartdashboard/elastic widgets for tuning gains in test mode would be great! If we have code that works with the flywheels, is that in main or in a branch? If it is in a branch, let's just make sure that branch is updated and ready to go on Wednesday so we can get the gains tuned and knock out this integration task

minhnguyenbhs commented 1 month ago

@jkleiber Got it, thank you! All of the code is in the shooter hardware branch. I think the only thing that isn't currently updated is motor ids- do you know what they are? Thank you!

jkleiber commented 1 month ago

@PChild has documented the motor IDs for most of the motors here: https://github.com/team401/high-key-2024/discussions/26

I assume the shooter flywheels are whatever ID they were when you got them running in shop last week.