Package com.flarerobotics.lib.control.shooter.data

Class LibShooterDescriptor

java.lang.Object
com.flarerobotics.lib.control.shooter.data.LibShooterDescriptor
public class LibShooterDescriptor extends Object
A descriptor for a shooter subsystem, containing all the necessary parameters to calculate the angle and RPM of the shooter, given environmental factors.

  • Method Details

    • getPivotHeight

      public double getPivotHeight()

    • getRollerRadius

      public double getRollerRadius()

    • getRollerMOI

      public double getRollerMOI()

    • getGearbox

      public edu.wpi.first.math.system.plant.DCMotor getGearbox()

    • getRollerReduction

      public double getRollerReduction()

    • getNumMotors

      public int getNumMotors()

    • getMaxRPM

      public double getMaxRPM()

    • getMinAngle

      public double getMinAngle()

    • getMaxAngle

      public double getMaxAngle()

    • getFlywheelMOI

      public double getFlywheelMOI()

    • getFlywheelToShooterReduction

      public double getFlywheelToShooterReduction()

    • getHopperDelay

      public double getHopperDelay()
      Returns the hopper delay, defined as the time it takes the game piece from the hopper to being launched, not including the spin-up time.
      Returns:
      The delay.

    • getNominalVoltage

      public double getNominalVoltage()

    • getAngleInterpolator

      public BilinearInterpolator2D getAngleInterpolator()

    • getRPMInterpolator

      public BilinearInterpolator2D getRPMInterpolator()

    • getWindupTimes

      public edu.wpi.first.math.interpolation.InterpolatingDoubleTreeMap getWindupTimes()