Speed up flywheel when pathfinding to shoot

team581 / 2024-offseason-comp

Team 581's robot software for our competition robot from the 2024 FRC offseason

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Speed up flywheel when pathfinding to shoot #44

Closed simonstoryparker closed 2 months ago

simonstoryparker commented 3 months ago

The goal is to be as prepared to shoot as possible when pathfinding, so that once we're at the right spot, we can shoot really quick and move on to the next step.

Currently, we rotate the robot to face the speaker (with a pre-determined angle for each goal scoring pose). This has saved us some time, but what takes the longest is waiting for the flywheel to spin up.

jonahsnider commented 3 months ago

Semi related but I kinda want to get rid of the "if in auto, run flywheel at speaker shot RPM" functionality. We have smart enough automation that it doesn't really do anything beneficial for us, but can sometimes cause issues where the flywheel needs a while to spin down from a super high RPM. Also wastes battery/current draw.

edit: also it's really loud in auto which I don't like