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Shooter #2

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577d15a
shooter subsystem classes
NolanKnight Jan 7, 2026
6d3c545
added shooter to subsystem manager
NolanKnight Jan 7, 2026
7b6e64f
shooter controls
NolanKnight Jan 7, 2026
179561a
debugged shooter sim
NolanKnight Jan 9, 2026
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21 changes: 21 additions & 0 deletions src/main/java/com/team973/frc2025/Robot.java
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,7 @@
package com.team973.frc2025;

import com.team973.frc2025.subsystems.DriveController;
import com.team973.frc2025.subsystems.shooter.ShooterIO;
import com.team973.lib.devices.GreyPigeonIO;
import com.team973.lib.util.AllianceCache;
import com.team973.lib.util.Joystick;
Expand All @@ -21,29 +22,37 @@ public class Robot extends TimedRobot {

private final GreyPigeonIO m_pigeon = m_subsystemManager.getPigeon();
private final DriveController m_driveController = m_subsystemManager.getDriveController();
private final ShooterIO m_shooter = m_subsystemManager.getShooter();

private final Joystick m_driverStick =
new Joystick(0, Joystick.Type.XboxController, m_logger.subLogger("driverStick"));
private final Joystick m_coDriverStick =
new Joystick(1, Joystick.Type.XboxController, m_logger.subLogger("coDriverStick"));

private void syncSensors() {
m_driveController.syncSensors();
m_shooter.syncSensors();
}

private void updateSubsystems() {
m_driveController.update();
m_shooter.update();
}

private void resetSubsystems() {
m_driveController.reset();
m_shooter.reset();
}

private void log() {
m_subsystemManager.log();
m_driveController.log();
m_shooter.log();
}

private void updateJoysticks() {
m_driverStick.update();
m_coDriverStick.update();
}

public Robot() {
Expand Down Expand Up @@ -95,6 +104,18 @@ public void teleopPeriodic() {
allianceScalar * m_driverStick.getLeftXAxis() * 0.7,
m_driverStick.getRightXAxis() * 0.8);

if (m_coDriverStick.getAButtonPressed()) {
m_shooter.setTargetPreset(ShooterIO.Preset.One);
} else if (m_coDriverStick.getBButtonPressed()) {
m_shooter.setTargetPreset(ShooterIO.Preset.Two);
} else if (m_coDriverStick.getXButtonPressed()) {
m_shooter.setTargetPreset(ShooterIO.Preset.Three);
} else if (m_coDriverStick.getYButtonPressed()) {
m_shooter.setState(ShooterIO.State.Manual);
}

m_shooter.setManualInput(m_coDriverStick.getLeftYAxis());

updateSubsystems();
}

Expand Down
29 changes: 29 additions & 0 deletions src/main/java/com/team973/frc2025/shared/RobotInfo.java
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Expand Up @@ -18,6 +18,35 @@ public class RobotInfo {

public static final DriveInfo DRIVE_INFO = new DriveInfo();

public static final ShooterInfo SHOOTER_INFO = new ShooterInfo();

public static class ShooterInfo {
public final int MOTOR_ID = 20;

public final double MOTOR_GEAR_RATIO = 40.0 / 18.0;

public final double SHOOTER_KS = 0.0;
public final double SHOOTER_KV = 0.0;
public final double SHOOTER_KA = 0.0;
public final double SHOOTER_KP = 0.1;
public final double SHOOTER_KI = 0.0;
public final double SHOOTER_KD = 0.0;

public final double SHOOTER_VOLTAGE_CLOSED_LOOP_RAMP_PERIOD = 0.0;

public final double STATOR_CURRENT_LIMIT = 60.0;
public final double SUPPLY_CURRENT_LIMIT = 40.0;

public final double PEAK_FORWARD_VOLTAGE = 12.0;
public final double PEAK_REVERSE_VOLTAGE = -12.0;

public final double MANUAL_INPUT_TO_VOLTS = 12.0;

public final double PRESET_ONE = 100;
public final double PRESET_TWO = -100;
public final double PRESET_THREE = 200;
}

public static class DriveInfo {
public final int STATUS_SIGNAL_FREQUENCY = 200;

Expand Down
105 changes: 105 additions & 0 deletions src/main/java/com/team973/frc2025/subsystems/shooter/Shooter.java
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@@ -0,0 +1,105 @@
package com.team973.frc2025.subsystems.shooter;

import com.ctre.phoenix6.configs.TalonFXConfiguration;
import com.ctre.phoenix6.signals.InvertedValue;
import com.ctre.phoenix6.signals.NeutralModeValue;
import com.team973.frc2025.shared.RobotInfo;
import com.team973.lib.devices.GreyTalonFX;
import com.team973.lib.util.Logger;
import edu.wpi.first.math.geometry.Pose3d;

public class Shooter extends ShooterIO {
protected static final RobotInfo.ShooterInfo m_shooterInfo = RobotInfo.SHOOTER_INFO;

private final Logger m_logger;

protected final GreyTalonFX m_motor;

private double m_targetVelocityRPS;
private double m_manualInput;

public Shooter(Logger logger) {
m_logger = logger;
m_motor =
new GreyTalonFX(
m_shooterInfo.MOTOR_ID, RobotInfo.CANIVORE_CANBUS, m_logger.subLogger("motorRight"));

TalonFXConfiguration motorConfig = new TalonFXConfiguration();

motorConfig.MotorOutput.Inverted = InvertedValue.CounterClockwise_Positive;

motorConfig.Slot0.kS = m_shooterInfo.SHOOTER_KS;
motorConfig.Slot0.kV = m_shooterInfo.SHOOTER_KV;
motorConfig.Slot0.kA = m_shooterInfo.SHOOTER_KA;
motorConfig.Slot0.kP = m_shooterInfo.SHOOTER_KP;
motorConfig.Slot0.kI = m_shooterInfo.SHOOTER_KI;
motorConfig.Slot0.kD = m_shooterInfo.SHOOTER_KD;

motorConfig.ClosedLoopRamps.VoltageClosedLoopRampPeriod =
m_shooterInfo.SHOOTER_VOLTAGE_CLOSED_LOOP_RAMP_PERIOD;

motorConfig.MotorOutput.NeutralMode = NeutralModeValue.Brake;

motorConfig.CurrentLimits.StatorCurrentLimit = m_shooterInfo.STATOR_CURRENT_LIMIT;
motorConfig.CurrentLimits.StatorCurrentLimitEnable = true;
motorConfig.CurrentLimits.SupplyCurrentLimit = m_shooterInfo.SUPPLY_CURRENT_LIMIT;
motorConfig.CurrentLimits.SupplyCurrentLimitEnable = true;

motorConfig.Voltage.PeakForwardVoltage = m_shooterInfo.PEAK_FORWARD_VOLTAGE;
motorConfig.Voltage.PeakReverseVoltage = m_shooterInfo.PEAK_REVERSE_VOLTAGE;

m_motor.setConfig(motorConfig);
m_motor.setPosition(0.0);

m_targetVelocityRPS = 0.0;
m_manualInput = 0.0;
}

@Override
public Pose3d getPose() {
return new Pose3d();
}

@Override
public GreyTalonFX getMotor() {
return m_motor;
}

@Override
public void setTargetPreset(Preset preset) {
m_targetVelocityRPS = preset.getVelocityRPS();
setState(State.ClosedLoop);
}

@Override
public void setManualInput(double input) {
m_manualInput = input;
}

@Override
public double getTargetVelocityMotorRPS() {
return m_targetVelocityRPS;
}

@Override
public double getManualInput() {
return m_manualInput;
}

@Override
public void syncSensors() {}

@Override
public void log() {
m_motor.log();

m_logger.log("currentVelocityRPS", m_motor.getVelocity().getValueAsDouble());
m_logger.log("targetVelocityRPS", m_targetVelocityRPS);
m_logger.log("manualInput", m_manualInput);

m_logger.log("state", getState().toString());
}

@Override
public void reset() {}
}
63 changes: 63 additions & 0 deletions src/main/java/com/team973/frc2025/subsystems/shooter/ShooterIO.java
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@@ -0,0 +1,63 @@
package com.team973.frc2025.subsystems.shooter;

import com.team973.frc2025.shared.RobotInfo;
import com.team973.lib.devices.GreyTalonFX;
import com.team973.lib.util.StateMap;
import com.team973.lib.util.Subsystem;
import edu.wpi.first.math.geometry.Pose3d;

public abstract class ShooterIO extends Subsystem<ShooterIO.State> {
private final StateMap<State> m_stateMap;

protected static final RobotInfo.ShooterInfo m_flywheelInfo = RobotInfo.SHOOTER_INFO;

public enum State {
ClosedLoop,
Manual,
Off
}

public enum Preset {
One(m_flywheelInfo.PRESET_ONE),
Two(m_flywheelInfo.PRESET_TWO),
Three(m_flywheelInfo.PRESET_THREE);

private final double m_velocityRPS;

private Preset(double velocityRPS) {
m_velocityRPS = velocityRPS;
}

public double getVelocityRPS() {
return m_velocityRPS;
}
}

@SuppressWarnings("unchecked")
public ShooterIO() {
super(State.Off);

m_stateMap =
new StateMap<>(
State.class,
new StateMap.Entry<>(State.ClosedLoop, new ShooterStates.ClosedLoop(this)),
new StateMap.Entry<>(State.Manual, new ShooterStates.Manual(this)),
new StateMap.Entry<>(State.Off, new ShooterStates.Off(this)));
}

public StateMap<State> getStateMap() {
return m_stateMap;
}

public abstract Pose3d getPose();

public abstract GreyTalonFX getMotor();

public abstract void setTargetPreset(Preset preset);

public abstract void setManualInput(double volts);

public abstract double getTargetVelocityMotorRPS();

public abstract double getManualInput();
}
66 changes: 66 additions & 0 deletions src/main/java/com/team973/frc2025/subsystems/shooter/ShooterSim.java
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@@ -0,0 +1,66 @@
package com.team973.frc2025.subsystems.shooter;

import com.ctre.phoenix6.sim.TalonFXSimState;
import com.team973.lib.util.Logger;
import edu.wpi.first.math.geometry.Pose3d;
import edu.wpi.first.math.system.plant.DCMotor;
import edu.wpi.first.math.system.plant.LinearSystemId;
import edu.wpi.first.wpilibj.RobotController;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.simulation.FlywheelSim;

public class ShooterSim extends Shooter {
private final FlywheelSim m_sim;
private final TalonFXSimState m_motorSimState;

private double m_lastVelocityRPM;
private double m_lastTimeSec;

public ShooterSim(Logger logger) {
super(logger);

m_sim =
new FlywheelSim(
LinearSystemId.createFlywheelSystem(
DCMotor.getKrakenX60(1), 0.002, m_shooterInfo.MOTOR_GEAR_RATIO),
DCMotor.getKrakenX60(1));

m_motorSimState = m_motor.getSimState();
m_lastVelocityRPM = m_sim.getAngularVelocityRPM();
m_lastTimeSec = Timer.getFPGATimestamp();
}

@Override
public Pose3d getPose() {
return new Pose3d();
}

private double flywheelRPSToMotorRPS(double flywheelRPS) {
return flywheelRPS * m_shooterInfo.MOTOR_GEAR_RATIO;
}

@Override
public void syncSensors() {
m_motorSimState.addRotorPosition(
flywheelRPSToMotorRPS(((m_sim.getAngularVelocityRPM() + m_lastVelocityRPM) / 2.0) / 60.0)
* (Timer.getFPGATimestamp() - m_lastTimeSec));

m_lastVelocityRPM = m_sim.getAngularVelocityRPM();
m_lastTimeSec = Timer.getFPGATimestamp();

m_motorSimState.setRotorVelocity(flywheelRPSToMotorRPS(m_sim.getAngularVelocityRPM() / 60.0));

m_motorSimState.setSupplyVoltage(RobotController.getBatteryVoltage());

super.syncSensors();
}

@Override
public void update() {
super.update();

m_sim.setInputVoltage(m_motorSimState.getMotorVoltage());

m_sim.update(0.02);
}
}
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