Package frc.robot.superstructure

Class ShooterSim

java.lang.Object

frc.robot.superstructure.ShooterSim

public class ShooterSim
extends Object

Simulation functionality for the shooter.

For now, this only really works for shoot-while-move since I didn't want to do all the calculations backwards to go back to gamepiece theta and speed. But that's all we really need it for anyway.

Constructor Summary

Constructors

Constructor	Description
ShooterSim(CommandSwerveDrivetrain drivetrain, Shooter flywheel, Hood hood, Turret turret, HopperUptake hopperUptake)

Method Summary

Modifier and Type	Method	Description
static void	setValues(LinearVelocity gamepieceSpeed, Angle gamepieceTheta)
void	simulationPeriodic()	Periodically updates values for the shooter simulation.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

ShooterSim

public ShooterSim(CommandSwerveDrivetrain drivetrain,
 Shooter flywheel,
 Hood hood,
 Turret turret,
 HopperUptake hopperUptake)

Method Details

simulationPeriodic

public void simulationPeriodic()

Periodically updates values for the shooter simulation.

setValues

public static void setValues(LinearVelocity gamepieceSpeed,
 Angle gamepieceTheta)