#include <shooter_subsystem.h>

Inheritance diagram for ShooterSubsystem:

Classes
struct	AimOffsets
	Offsets useful for aiming while driving. More...

struct	HubRelativeVelocities

struct	ShooterDistanceSetpoints
	Hood and shooter setpoints for shooting at a known distance. More...

Public Types
enum class	FixedPosState { Front , Left , Right , Back }
	Cardinal directions used for aiming without vision. More...

Public Member Functions
	ShooterSubsystem (const argos_lib::RobotInstance instance, SwerveDriveSubsystem pDriveSubsystem, argos_lib::SwappableControllersSubsystem controllers=nullptr)

std::optional< units::degree_t >	GetTurretTargetAngle (LimelightTarget::tValues target)
	Get the angle to aim at a specified target. 0 Degrees is toward intake, positive CCW. More...

LimelightTarget::tValues	GetCameraTargetValues ()
	Get the pitch and yaw of target. More...

void	Periodic () override

bool	AutoAim (bool drivingAdjustment=false)
	Auto aims shooter to hub using vision. More...

void	Shoot (double ballfiringspeed)
	pressing a button to fire a ball More...

void	ManualAim (double turnSpeed, double hoodSpeed)
	manually aiming the turret More...

void	CloseLoopShoot (units::revolutions_per_minute_t ShooterWheelSpeed)
	Run shooter at desired speed. More...

units::revolutions_per_minute_t	GetShooterWheelSpeed ()
	Get the speed of the shooter wheel in RPM. More...

void	MoveHood (double hoodSpeed)
	Move hood at specified percent speed. More...

void	MoveTurret (double turnSpeed)
	Move turret at specified percent speed. More...

void	HoodSetPosition (units::degree_t angle)
	Closed loop go to position. More...

units::degree_t	GetHoodPosition ()
	Get the hood position in physical units. More...

void	UpdateHoodHome ()
	Update hood home position. More...

bool	IsHoodMoving ()
	Detect if hood is moving. More...

bool	IsHoodHomed ()
	Detect if hood homing is complete. More...

void	ClearHoodHome ()
	Reset hood home status. More...

void	UpdateTurretHome ()
	Update turret home position. More...

void	InitializeTurretHome ()
	Initialize turret position based on saved home. More...

bool	IsTurretHomed ()
	Detect if turret homing is complete. More...

void	TurretSetPosition (units::degree_t angle)
	Closed-loop go to turret position. More...

std::optional< units::degree_t >	TurretGetPosition ()
	Get current angle of turret with 0 degrees at intake side and positive counterclockwise. More...

void	SetTurretSoftLimits ()
	Sets and enables soft angle limits for turret. More...

void	DisableTurretSoftLimits ()
	Disables soft angle limits for turret. More...

void	SetHoodSoftLimits ()
	Sets and enables soft angle limits for hood. More...

void	DisableHoodSoftLimits ()
	Disables soft angle limits for hood. More...

bool	IsManualOverride ()
	Detect if manual control has been enabled. More...

void	Disable ()
	Runs on robot disable to reset manual control. More...

units::inch_t	GetTargetDistance (units::degree_t targetVerticalAngle)
	Gets from the target to the camera. More...

units::inch_t	GetPolynomialOffset (units::inch_t actualDistance)
	Gets the offset for the distance of targets above 7.416667 ft (89 in) More...

ShooterDistanceSetpoints	GetShooterDistanceSetpoints (units::inch_t distanceToTarget) const
	Get the shooter setpoints for a target distance. More...

ShooterDistanceSetpoints	SetShooterDistance (units::inch_t distanceToTarget)
	Setting the shooter speed and hood angle depeneding on how far away the target is. More...

void	FixedShooterPosition (FixedPosState)
	Handles fixed close shot shooting positions around hub. More...

units::angular_velocity::revolutions_per_minute_t	GetShooterSpeed ()
	Get the shooter speed in physical units. More...

void	ManualOverride ()
	Override automatic control. More...

void	SetCameraDriverMode (bool driverMode)
	Set camera mode to driver mode without LEDs or targetting mode with LEDs. More...

void	StopFeedback () const
	Stop vibration feedback. More...

void	AimedFeedback () const
	Activate vibration feedback to indicate aimed. More...

Static Public Member Functions
static bool	InAcceptableRanges (const AimValues targets, const AimValues real)
	Checks if all shooter values are close enough to target values. More...

Private Member Functions
HubRelativeVelocities	ChassisVelocitiesToHubVelocities (const frc::ChassisSpeeds robotChassisSpeed, units::degree_t hubTurretAngle)
	Generate hub-relative velocities for driving shot. More...

AimOffsets	DrivingAimOffsets (const HubRelativeVelocities robotVelocity, units::foot_t hubDistance, units::degree_t hubAngle, units::second_t targetStaleness)

Private Attributes
const argos_lib::CANAddress	m_shooterWheelLeftAddr

const argos_lib::CANAddress	m_shooterWheelRightAddr

const argos_lib::CANAddress	m_hoodMotorAddr

const argos_lib::CANAddress	m_turretMotorAddr

WPI_TalonFX	m_shooterWheelLeft
	Left shooter wheel drive motor. More...

WPI_TalonFX	m_shooterWheelRight
	Right shooter wheel drive motor. More...

WPI_TalonSRX	m_hoodMotor
	Hood articulation drive motor. More...

WPI_TalonSRX	m_turretMotor
	Turret rotation motor. More...

CameraInterface	m_cameraInterface
	Interface to limelight camera. More...

FSHomingStorage< units::degree_t >	m_turretHomingStorage
	Filesystem storage for turret rotation. More...

bool	m_hoodHomed
	True when hood has known closed loop position. More...

bool	m_turretHomed
	True when turret has known closed loop position. More...

bool	m_manualOverride

bool	m_useCalculatedPitch
	True if we want to use the calculated pitch to the top of the hood. More...

argos_lib::InterpolationMap< decltype(shooterRange::shooterSpeed.front().inVal), shooterRange::shooterSpeed.size(), decltype(shooterRange::shooterSpeed.front().outVal)>	m_shooterSpeedMap
	Maps distance to a shooter wheel speed. More...

argos_lib::InterpolationMap< decltype(shooterRange::hoodAngle.front().inVal), shooterRange::hoodAngle.size(), decltype(shooterRange::hoodAngle.front().outVal)>	m_hoodAngleMap
	Maps a distance to a hood angle. More...

argos_lib::InterpolationMap< decltype(shooterRange::lateralSpeed.front().inVal), shooterRange::lateralSpeed.size(), decltype(shooterRange::lateralSpeed.front().outVal)>	m_lateralSpeedMap

argos_lib::NTMotorPIDTuner	m_hoodPIDTuner
	Assists hood PID tuning. More...

argos_lib::NTMotorPIDTuner	m_shooterPIDTuner
	Assists shooter PID tuning. More...

argos_lib::NTMotorPIDTuner	m_turretPIDTuner
	Assists turret PID tuning. More...

argos_lib::RobotInstance	m_instance
	Contains either the competition bot or practice bot. Differentiates between the two. More...

SwerveDriveSubsystem *	m_pDriveSubsystem
	Pointer to drivetrain for reading some odometry. More...

argos_lib::SwappableControllersSubsystem *	m_pControllers
	Pointer to controller subsystem for vibration feedback. More...

Member Enumeration Documentation

◆ FixedPosState

enum class ShooterSubsystem::FixedPosState

strong

Cardinal directions used for aiming without vision.

Enumerator
Front	Toward intake.
Left	90 degrees CCW from intake side
Right	90 degrees CW from intake side
Back	Opposite intake side.

Constructor & Destructor Documentation

◆ ShooterSubsystem()

ShooterSubsystem::ShooterSubsystem	(	const argos_lib::RobotInstance	instance,
		SwerveDriveSubsystem *	pDriveSubsystem,
		argos_lib::SwappableControllersSubsystem *	controllers = `nullptr`
	)

Copyright: Copyright (c) Argos FRC Team 1756. Open Source Software; you can modify and/or share it under the terms of the license file in the root directory of this project.

Member Function Documentation

◆ AimedFeedback()

void ShooterSubsystem::AimedFeedback ( ) const

Activate vibration feedback to indicate aimed.

◆ AutoAim()

bool ShooterSubsystem::AutoAim ( bool drivingAdjustment = false )

Auto aims shooter to hub using vision.

Parameters

drivingAdjustment True enables aiming adjustment for robot motion

Returns: True when aimed at vision target

◆ ChassisVelocitiesToHubVelocities()

ShooterSubsystem::HubRelativeVelocities ShooterSubsystem::ChassisVelocitiesToHubVelocities	(	const frc::ChassisSpeeds	robotChassisSpeed,
		units::degree_t	hubTurretAngle
	)

private

Generate hub-relative velocities for driving shot.

Parameters

robotChassisSpeed	Active robot velocity in chassis frame (x positive forward, y positive left, yaw positive CW)
hubTurretAngle	Angle of hub in chassis reference frame (0 yaw is robot forward, positive is CW)

Returns: HubRelativeVelocities Robot's velocities relative to hub

◆ ClearHoodHome()

void ShooterSubsystem::ClearHoodHome ( )

Reset hood home status.

◆ CloseLoopShoot()

void ShooterSubsystem::CloseLoopShoot ( units::revolutions_per_minute_t ShooterWheelSpeed )

Run shooter at desired speed.

Parameters

ShooterWheelSpeed Setpoint speed in RPM

◆ Disable()

void ShooterSubsystem::Disable ( )

Runs on robot disable to reset manual control.

◆ DisableHoodSoftLimits()

void ShooterSubsystem::DisableHoodSoftLimits ( )

Disables soft angle limits for hood.

◆ DisableTurretSoftLimits()

void ShooterSubsystem::DisableTurretSoftLimits ( )

Disables soft angle limits for turret.

◆ DrivingAimOffsets()

ShooterSubsystem::AimOffsets ShooterSubsystem::DrivingAimOffsets	(	const HubRelativeVelocities	robotVelocity,
		units::foot_t	hubDistance,
		units::degree_t	hubAngle,
		units::second_t	targetStaleness
	)

private

◆ FixedShooterPosition()

void ShooterSubsystem::FixedShooterPosition ( FixedPosState fixedPosState )

Handles fixed close shot shooting positions around hub.

◆ GetCameraTargetValues()

LimelightTarget::tValues ShooterSubsystem::GetCameraTargetValues ( )

Get the pitch and yaw of target.

Returns: LimelightTarget::tValues

◆ GetHoodPosition()

units::degree_t ShooterSubsystem::GetHoodPosition ( )

Get the hood position in physical units.

Returns: hood position

◆ GetPolynomialOffset()

units::inch_t ShooterSubsystem::GetPolynomialOffset ( units::inch_t actualDistance )

Gets the offset for the distance of targets above 7.416667 ft (89 in)

Parameters

actualDistance The actual distance of how far the camera is to the target

Returns: Gives the offset of the distance to subtract

◆ GetShooterDistanceSetpoints()

ShooterSubsystem::ShooterDistanceSetpoints ShooterSubsystem::GetShooterDistanceSetpoints ( units::inch_t distanceToTarget ) const

Get the shooter setpoints for a target distance.

Parameters

distanceToTarget Distance from shooter to hub edge

Returns: Hood and shooter setpoints

◆ GetShooterSpeed()

units::angular_velocity::revolutions_per_minute_t ShooterSubsystem::GetShooterSpeed ( )

Get the shooter speed in physical units.

Returns: Current shooter speed

◆ GetShooterWheelSpeed()

units::revolutions_per_minute_t ShooterSubsystem::GetShooterWheelSpeed ( )

Get the speed of the shooter wheel in RPM.

Returns: units::revolutions_per_minute_t

◆ GetTargetDistance()

units::inch_t ShooterSubsystem::GetTargetDistance ( units::degree_t targetVerticalAngle )

Gets from the target to the camera.

Parameters

targetVerticalAngle The angle of the camera to the ground relative of the target

Returns: Gives the distance in inches of the target to camera

◆ GetTurretTargetAngle()

std::optional< units::degree_t > ShooterSubsystem::GetTurretTargetAngle ( LimelightTarget::tValues target )

Get the angle to aim at a specified target. 0 Degrees is toward intake, positive CCW.

Parameters

target Target to aim toward

Returns: Desired turret angle. std::nullopt if turret is not homed to generate a reference angle

◆ HoodSetPosition()

void ShooterSubsystem::HoodSetPosition ( units::degree_t angle )

Closed loop go to position.

Parameters

angle with 0 being parallel to ground, positive is raise hood

◆ InAcceptableRanges()

bool ShooterSubsystem::InAcceptableRanges	(	const AimValues	targets,
		const AimValues	real
	)

static

Checks if all shooter values are close enough to target values.

Parameters

targets	Desired values
real	Current actual values

Returns: true if all real values close enough to targets, false otherwise

◆ InitializeTurretHome()

void ShooterSubsystem::InitializeTurretHome ( )

Initialize turret position based on saved home.

Note: Turret can break itself if it moves above about 370 degrees or below about 10 degrees, but if turret starts near the 0/360 degree point, the homing position is ambiguous. To account for this, interpret position as greater than 360 if angle is in the 0-10/360-370 degree region

◆ IsHoodHomed()

bool ShooterSubsystem::IsHoodHomed ( )

Detect if hood homing is complete.

Returns: True if hood is homed

◆ IsHoodMoving()

bool ShooterSubsystem::IsHoodMoving ( )

Detect if hood is moving.

Returns: True if hood is currently in motion

◆ IsManualOverride()

bool ShooterSubsystem::IsManualOverride ( )

Detect if manual control has been enabled.

Returns: True when manual control is active

◆ IsTurretHomed()

bool ShooterSubsystem::IsTurretHomed ( )

Detect if turret homing is complete.

Returns: True if turret is homed

◆ ManualAim()

void ShooterSubsystem::ManualAim	(	double	turnSpeed,
		double	hoodSpeed
	)

manually aiming the turret

Parameters

turnSpeed	turns the turret left or right full right turn is 1.0 full left turn is -1.0
hoodSpeed	move the hood up or down full retract movement is 1.0 full extend movemnt is -1.0

◆ ManualOverride()

void ShooterSubsystem::ManualOverride ( )

Override automatic control.

◆ MoveHood()

void ShooterSubsystem::MoveHood ( double hoodSpeed )

Move hood at specified percent speed.

Parameters

hoodSpeed move the hood up or down full retract movement is 1.0 full extend movemnt is -1.0

◆ MoveTurret()

void ShooterSubsystem::MoveTurret ( double turnSpeed )

Move turret at specified percent speed.

Parameters

turnSpeed turns the turret left or right full right turn is 1.0 full left turn is -1.0

◆ Periodic()

void ShooterSubsystem::Periodic ( )

override

Will be called periodically whenever the CommandScheduler runs.

◆ SetCameraDriverMode()

void ShooterSubsystem::SetCameraDriverMode ( bool driverMode )

Set camera mode to driver mode without LEDs or targetting mode with LEDs.

Parameters

driverMode True changes to driver mode, false changes to operator mode

◆ SetHoodSoftLimits()

void ShooterSubsystem::SetHoodSoftLimits ( )

Sets and enables soft angle limits for hood.

◆ SetShooterDistance()

ShooterSubsystem::ShooterDistanceSetpoints ShooterSubsystem::SetShooterDistance ( units::inch_t distanceToTarget )

Setting the shooter speed and hood angle depeneding on how far away the target is.

Parameters

distanceToTarget The distance to the target from the robot

Returns: Hood and shooter setpoints

◆ SetTurretSoftLimits()

void ShooterSubsystem::SetTurretSoftLimits ( )

Sets and enables soft angle limits for turret.

◆ Shoot()

void ShooterSubsystem::Shoot ( double ballfiringspeed )

pressing a button to fire a ball

Parameters

ballfiringspeed the speed at which the ball shoots out of the shooter 1.0

◆ StopFeedback()

void ShooterSubsystem::StopFeedback ( ) const

Stop vibration feedback.

◆ TurretGetPosition()

std::optional< units::degree_t > ShooterSubsystem::TurretGetPosition ( )

Get current angle of turret with 0 degrees at intake side and positive counterclockwise.

Returns: Angle of turret if homed, std::nullopt otherwise

◆ TurretSetPosition()

void ShooterSubsystem::TurretSetPosition ( units::degree_t angle )

Closed-loop go to turret position.

Parameters

angle Setpoint where 0 degrees is intake direction and positive is counterclockwise

◆ UpdateHoodHome()

void ShooterSubsystem::UpdateHoodHome ( )

Update hood home position.

◆ UpdateTurretHome()

void ShooterSubsystem::UpdateTurretHome ( )

Update turret home position.

Member Data Documentation

◆ m_cameraInterface

CameraInterface ShooterSubsystem::m_cameraInterface

private

Interface to limelight camera.

◆ m_hoodAngleMap

argos_lib::InterpolationMap<decltype(shooterRange::hoodAngle.front().inVal), shooterRange::hoodAngle.size(), decltype(shooterRange::hoodAngle.front().outVal)> ShooterSubsystem::m_hoodAngleMap

private

Maps a distance to a hood angle.

◆ m_hoodHomed

bool ShooterSubsystem::m_hoodHomed

private

True when hood has known closed loop position.

◆ m_hoodMotor

WPI_TalonSRX ShooterSubsystem::m_hoodMotor

private

Hood articulation drive motor.

◆ m_hoodMotorAddr

const argos_lib::CANAddress ShooterSubsystem::m_hoodMotorAddr

private

◆ m_hoodPIDTuner

argos_lib::NTMotorPIDTuner ShooterSubsystem::m_hoodPIDTuner

private

Assists hood PID tuning.

◆ m_instance

argos_lib::RobotInstance ShooterSubsystem::m_instance

private

Contains either the competition bot or practice bot. Differentiates between the two.

◆ m_lateralSpeedMap

argos_lib::InterpolationMap<decltype(shooterRange::lateralSpeed.front().inVal), shooterRange::lateralSpeed.size(), decltype(shooterRange::lateralSpeed.front().outVal)> ShooterSubsystem::m_lateralSpeedMap

private

◆ m_manualOverride

bool ShooterSubsystem::m_manualOverride

private

◆ m_pControllers

argos_lib::SwappableControllersSubsystem* ShooterSubsystem::m_pControllers

private

Pointer to controller subsystem for vibration feedback.

◆ m_pDriveSubsystem

SwerveDriveSubsystem* ShooterSubsystem::m_pDriveSubsystem

private

Pointer to drivetrain for reading some odometry.

◆ m_shooterPIDTuner

argos_lib::NTMotorPIDTuner ShooterSubsystem::m_shooterPIDTuner

private

Assists shooter PID tuning.

◆ m_shooterSpeedMap

argos_lib::InterpolationMap<decltype(shooterRange::shooterSpeed.front().inVal), shooterRange::shooterSpeed.size(), decltype(shooterRange::shooterSpeed.front().outVal)> ShooterSubsystem::m_shooterSpeedMap

private

Maps distance to a shooter wheel speed.

◆ m_shooterWheelLeft

WPI_TalonFX ShooterSubsystem::m_shooterWheelLeft

private

Left shooter wheel drive motor.

◆ m_shooterWheelLeftAddr

const argos_lib::CANAddress ShooterSubsystem::m_shooterWheelLeftAddr

private

◆ m_shooterWheelRight

WPI_TalonFX ShooterSubsystem::m_shooterWheelRight

private

Right shooter wheel drive motor.

◆ m_shooterWheelRightAddr

const argos_lib::CANAddress ShooterSubsystem::m_shooterWheelRightAddr

private

◆ m_turretHomed

bool ShooterSubsystem::m_turretHomed

private

True when turret has known closed loop position.

◆ m_turretHomingStorage

FSHomingStorage<units::degree_t> ShooterSubsystem::m_turretHomingStorage

private

Filesystem storage for turret rotation.

◆ m_turretMotor

WPI_TalonSRX ShooterSubsystem::m_turretMotor

private

Turret rotation motor.

◆ m_turretMotorAddr

const argos_lib::CANAddress ShooterSubsystem::m_turretMotorAddr

private

◆ m_turretPIDTuner

argos_lib::NTMotorPIDTuner ShooterSubsystem::m_turretPIDTuner

private

Assists turret PID tuning.

◆ m_useCalculatedPitch

bool ShooterSubsystem::m_useCalculatedPitch

private

True if we want to use the calculated pitch to the top of the hood.

The documentation for this class was generated from the following files:

src/main/include/subsystems/shooter_subsystem.h
src/main/cpp/subsystems/shooter_subsystem.cpp

Classes

Public Types

Public Member Functions

Static Public Member Functions

Private Member Functions

Private Attributes

Member Enumeration Documentation

◆ FixedPosState

Constructor & Destructor Documentation

◆ ShooterSubsystem()

Member Function Documentation

◆ AimedFeedback()

◆ AutoAim()

◆ ChassisVelocitiesToHubVelocities()

◆ ClearHoodHome()

◆ CloseLoopShoot()

◆ Disable()

◆ DisableHoodSoftLimits()

◆ DisableTurretSoftLimits()

◆ DrivingAimOffsets()

◆ FixedShooterPosition()

◆ GetCameraTargetValues()

◆ GetHoodPosition()

◆ GetPolynomialOffset()

◆ GetShooterDistanceSetpoints()

◆ GetShooterSpeed()

◆ GetShooterWheelSpeed()

◆ GetTargetDistance()

◆ GetTurretTargetAngle()

◆ HoodSetPosition()

◆ InAcceptableRanges()

◆ InitializeTurretHome()

◆ IsHoodHomed()

◆ IsHoodMoving()

◆ IsManualOverride()

◆ IsTurretHomed()

◆ ManualAim()

◆ ManualOverride()

◆ MoveHood()

◆ MoveTurret()

◆ Periodic()

◆ SetCameraDriverMode()

◆ SetHoodSoftLimits()

◆ SetShooterDistance()

◆ SetTurretSoftLimits()

◆ Shoot()

◆ StopFeedback()

◆ TurretGetPosition()

◆ TurretSetPosition()

◆ UpdateHoodHome()

◆ UpdateTurretHome()

Member Data Documentation

◆ m_cameraInterface

◆ m_hoodAngleMap

◆ m_hoodHomed

◆ m_hoodMotor

◆ m_hoodMotorAddr

◆ m_hoodPIDTuner

◆ m_instance

◆ m_lateralSpeedMap

◆ m_manualOverride

◆ m_pControllers

◆ m_pDriveSubsystem

◆ m_shooterPIDTuner

◆ m_shooterSpeedMap

◆ m_shooterWheelLeft

◆ m_shooterWheelLeftAddr

◆ m_shooterWheelRight

◆ m_shooterWheelRightAddr

◆ m_turretHomed

◆ m_turretHomingStorage

◆ m_turretMotor

◆ m_turretMotorAddr

◆ m_turretPIDTuner

◆ m_useCalculatedPitch