Henry 4 23

src/main/java/com/team1816/lib/hardware/factory/RobotFactory.java

@@ -744,6 +744,7 @@ public SwerveDrivetrainConstants getSwerveDrivetrainConstant(String subsystemNam
         factory.DriveMotorGearRatio = kinematics.driveGearing;
         factory.SteerMotorGearRatio = kinematics.steerGearing;
         factory.CouplingGearRatio = kinematics.couplingGearRatio;
+        factory.SlipCurrent = kinematics.slipCurrentAmps;
         factory.SpeedAt12Volts = maxSpd;
 
         for (var module : config.modules.values()) {
@@ -762,6 +763,7 @@ public SwerveDrivetrainConstants getSwerveDrivetrainConstant(String subsystemNam
                 GreenLogger.log(" DriveMotorGearRatio: " + factory.DriveMotorGearRatio);
                 GreenLogger.log(" SteerMotorGearRatio: " + factory.SteerMotorGearRatio);
                 GreenLogger.log(" CouplingGearRatio: " + factory.CouplingGearRatio);
+                GreenLogger.log(" SlipCurrent: " + factory.SlipCurrent);
                 GreenLogger.log(" SpeedAt12Volts: " + factory.SpeedAt12Volts);
             }
 
@@ -832,6 +834,9 @@ private void verifyKinematics(String subsystemName, KinematicsConfig kinematics)
         if (kinematics.couplingGearRatio == null || kinematics.couplingGearRatio == 0) {
             property = "couplingGearRatio";
         }
+        if (kinematics.slipCurrentAmps == null || kinematics.slipCurrentAmps == 0) {
+            property = "slipCurrentAmps";
+        }
         if (property != null) {
             var message = subsystemName + " kinematics " + property + " can't be null or 0";
             throw new IllegalArgumentException(message);

src/main/java/com/team1816/season/subsystems/Shooter.java

@@ -79,7 +79,7 @@ public class Shooter extends SubsystemBase implements ITestableSubsystem {
     /**
      * An adjustment value added to all requests to the turret (in degrees).
      */
-    private double turretAngleAdjustmentDegrees = -1.0;
+    private double turretAngleAdjustmentDegrees = 0;
 
     private boolean useChassisSpeedForHoodAngleAndSpeed = false;
 
@@ -331,7 +331,7 @@ private void applyState() {
         isAutoAiming = autoAimTurret || wantedDistanceState == ShooterDistanceState.AUTOMATIC;
 
         if (autoAimTurret) {
-            double turretLookAheadTimeSeconds = 0.5;
+            double turretLookAheadTimeSeconds = 0;
             IShooterCalculator.ShooterCalculatorResponse calculatorResponse = shooterTableCalculator.calculate(
                 getCurrentTurretPose3d().getTranslation(),
                 target,

src/main/resources/schemas/hardware/kinematics.schema.json

@@ -50,6 +50,11 @@
             "type" : "number",
             "default": null,
             "description": "number of rotations of the drive motor caused by a rotation of the azimuth"
+        },
+        "slipCurrentAmps": {
+            "type" : "number",
+            "default": null,
+            "description": "maximum amount of stator current the drive motors can apply without slippage"
         }
     }
 }

src/main/resources/yaml/ztldr.yml

@@ -1,31 +1,31 @@
 shooterSettings:
     distancesInches:
+        - 48.5
         - 60
         - 96
         - 120
         - 156
-        - 204
         - 210
-        - 264
-        - 360 # Maximum distance shot
+        - 272
+        - 272
     inclineAnglesRotations:
-        - 0.057 # 48
+        - 0.057 # 48.5
+        - 0.057 # 60
         - 0.064 #96
         - 0.07 # 120
         - 0.08 # 156
-        - 0.09 # 204
-        - 0.09 #210
-        - 0.1113 # 264
-        - 0.108 # 360
+        - 0.083 #210
+        - 0.095 # 272
+        - 0.085 # 272
     launchVelocitiesRPS:
-        - 32 # 48
-        - 39 # 96
-        - 41 #120
-        - 43 # 156
-        - 46 # 204
-        - 48 #210
-        - 49 # 264
-        - 50 # 360
+        - 38 # 48.5
+        - 40 # 60
+        - 42 # 96
+        - 43 #120
+        - 44 # 156
+        - 49 # 210
+        - 54 # 272
+        - 58 # 272
 linearMPSToLaunchRPS: # TODO: Actual tune this. For now we are just using the shooterSettings and doing some physics to convert.
     linearVelocitiesMPS:
         - 10
@@ -41,7 +41,6 @@ subsystems:
                 id: 35
                 deviceType: TalonFX
                 neutralMode: Brake
-                statorCurrentLimit: 80
                 supplyCurrentLimit: 40
             flAz:
                 id: 30
@@ -60,7 +59,6 @@ subsystems:
                 deviceType: TalonFX
                 neutralMode: Brake
                 motorRotation: Clockwise_Positive
-                statorCurrentLimit: 80
                 supplyCurrentLimit: 40
             frAz:
                 id: 31
@@ -78,7 +76,6 @@ subsystems:
                 id: 37
                 deviceType: TalonFX
                 neutralMode: Brake
-                statorCurrentLimit: 80
                 supplyCurrentLimit: 40
             blAz:
                 id: 33
@@ -97,7 +94,6 @@ subsystems:
                 deviceType: TalonFX
                 neutralMode: Brake
                 motorRotation: Clockwise_Positive
-                statorCurrentLimit: 80
                 supplyCurrentLimit: 40
             brAz:
                 id: 32
@@ -152,6 +148,7 @@ subsystems:
             maxDriveRPS: 98 # measured motor max speed rps
             maxAngularRate: 8.285 # rad/sec
             wheelCOF: 1.7
+            slipCurrentAmps: 42
         constants:
             translationKp: 20
             translationKd: 0