Package frc.robot.subsystems.shooter

Class TargetingState

java.lang.Object

frc.robot.subsystems.shooter.TargetingState

public class TargetingState
extends Object

Computes desired shooting parameters from robot state.

Constructor Summary

Constructors

Constructor	Description
TargetingState(Supplier<Pose2d> poseSource, Supplier<ChassisSpeeds> speedSource, DoubleSupplier flywheelSource)	constructor for targeting state

Method Summary

Modifier and Type	Method	Description
double	getDesiredFlywheelSpeed()
double	getDesiredHoodAngle()
Rotation2d	getDesiredTurretHeadingFieldRelative()
double	getTrimLeft()
double	getTrimUp()
void	incTrims(double incUp, double incLeft)
boolean	isOkayToShoot()
void	setTrims(double trimUp, double trimLeft)
void	updateTargeting()	Recompute targeting solution.

Methods inherited from class java.lang.Object

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

Constructor Details

TargetingState

public TargetingState(Supplier<Pose2d> poseSource,
 Supplier<ChassisSpeeds> speedSource,
 DoubleSupplier flywheelSource)

constructor for targeting state

Parameters:

poseSource - pose supplier

speedSource - bot chassis speeds supplier

flywheelSource - flywheel velocity supplier

Method Details

setTrims

public void setTrims(double trimUp,
 double trimLeft)

incTrims

public void incTrims(double incUp,
 double incLeft)

getTrimUp

public double getTrimUp()

getTrimLeft

public double getTrimLeft()

updateTargeting

public void updateTargeting()

Recompute targeting solution. Call once per loop.

getDesiredFlywheelSpeed

public double getDesiredFlywheelSpeed()

getDesiredHoodAngle

public double getDesiredHoodAngle()

isOkayToShoot

public boolean isOkayToShoot()

getDesiredTurretHeadingFieldRelative

public Rotation2d getDesiredTurretHeadingFieldRelative()