auto-feeding #79
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auto-feeding #79
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HenryLi-0
reviewed
Sep 23, 2024
| @@ -263,6 +269,8 @@ private void configureBindings() { | |||
| .deadlineWith(Commands.idle(shooter))) | |||
| .toggleOnTrue(led.raindrop()); | |||
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| operator.y().onTrue(shooting.feedToAmp(x, y)); | |||
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Maybe this should be .whileTrue? In simulation, the robot continues pointing at the feeding target area, even after the note is shot.
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It also seems to sometimes make it only shoot once in simulation and not again?
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Shooting only once is because of feeder code not working in sim
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One other thing, this should probably be given to the driver instead b/c its harder to coordinate this between two people in a really fast manner. Ask @Yxhej for specific button.
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PR for task "Auto Feed"
Shoots at target 2 feet in front of the amp at z=0. The shot velocity is calculated in terms of the pitch (math can be found here). Pivot angle can be changed beforehand through operator manual pivot, and it will hold that angle for the duration of the shot.
Since the note is shot high and likely changes orientation in its arc, the note will almost certainly not land where it is modeled in code. Testing that is a very good idea.
I've also added ethan's constant so we can change that to account for disturbances (assuming that we would want to account for different disturbances in the feeding vs shooting code). You may wish to change the name.
Also supports feeding while driving
SOTM.feeding.-.Made.with.Clipchamp.mp4