TimBot - Shooter Flywheel subsystem

[dlaufen]

A flywheel shooter is need for TimBot.

Talon/falcons are used for the motor controller. Look for example code from 2019/20 or original Tim code to crib from.

Make sure to update to Phoenix 6.
https://v6.docs.ctr-electronics.com/en/stable/docs/migration/migration-guide/index.html
Need to tune velocity PID so speed has a fast step-response.
There are two motors, set the sub-system up to control each independently as we may need to stage or stagger the flywheels.

basics - https://docs.wpilib.org/en/stable/docs/software/advanced-controls/introduction/tuning-flywheel.html
adv - https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-flywheel-walkthrough.html

API sketch:
SetSpeed(double rpm)
bool IsAtSpeed()

[26grogab]

Update 1:

• Added a commit that has the majority of the flywheelSubsystem done. I'm still experiencing a Gradle/build error, as well as one weird error that's not making much sense to me--DM me for a more in-depth explanation.
• I added (0.1, 0, 0) for PID values - completely based off of previous years' code, and it's not tuned to the actual robot.
• I have a speed() method that can be used currently in RPM, but I also plan to add a voltage-based control later.
• The IsAtSpeed() method has not been tested, but code-wise seems solid.
• One weird thing to note - there were no encoders that I had to code in, and the Talons seem to have an integrated encoder to get feedforward/back within its methods.

Dr. J helped me debug and add some fine-tuning--you can safely ask him about this as well

Next Steps:

1. Add a voltage-based control loop to see if I can tune the motors more finely.
2. Integrate Jonathon's solenoid with the isAtSpeed() method and add a command that fires + shoots a frisbee.
3. Merge the branch with main / other unrelated subsystems once it's all tuned - but do this EXTREMELY CAREFULLY - I took out and threw away a lot of code that I didn't need in my branch.