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Still give other motors some velocity #284

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Still give other motors some velocity #284

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a6fc86e
Still give other motors some velocity
Rongrrz Mar 15, 2026
a7b72ca
Merge branch 'main' into apply-rpm-to-other-motors-in-low-power-mode
VictorChen1-1 Mar 23, 2026
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22 changes: 19 additions & 3 deletions src/main/java/competition/subsystems/shooter/ShooterSubsystem.java
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Original file line number Diff line number Diff line change
Expand Up @@ -9,6 +9,7 @@
import xbot.common.command.SimpleWaitForMaintainerCommand;
import xbot.common.controls.actuators.XCANMotorController;
import xbot.common.controls.actuators.XCANMotorControllerPIDProperties;
import xbot.common.properties.AngularVelocityProperty;
import xbot.common.properties.DoubleProperty;
import xbot.common.properties.PropertyFactory;
import xbot.common.resiliency.DeviceHealth;
Expand All @@ -20,8 +21,6 @@
import java.util.List;

import static edu.wpi.first.units.Units.RPM;
import static edu.wpi.first.units.Units.Rotations;
import static edu.wpi.first.units.Units.RotationsPerSecond;
import static edu.wpi.first.units.Units.Seconds;

@Singleton
Expand All @@ -40,6 +39,8 @@ public class ShooterSubsystem extends BaseSetpointSubsystem<AngularVelocity, Dou

public AngularVelocity currentTargetVelocity = RPM.of(0);

public AngularVelocityProperty lowPowerModeVelocity;

private final Subsystem trimSetpointLock = new Subsystem() {

};
Expand Down Expand Up @@ -121,6 +122,7 @@ public ShooterSubsystem(XCANMotorController.XCANMotorControllerFactory xcanMotor
this.defaultShootingVelocity = this.propertyFactory.createPersistentProperty("Default Shooter Velocity RPM", 3000);
this.trimValue = this.propertyFactory.createPersistentProperty("Shooter Trim Value", 0);
this.readinessTimeoutSeconds = this.propertyFactory.createPersistentProperty("Readiness Timeout Seconds", 2.0);
this.lowPowerModeVelocity = this.propertyFactory.createPersistentProperty("LowPowerModeVelocity", RPM.of(150));
}

public void stop() {
Expand All @@ -142,9 +144,23 @@ public void decreaseShooterOffset() {
}

public void runMotorsAtVelocity(AngularVelocity velocity) {
for (var motor : getHealthyShooterMotors()) {
var allMotors = getShooterMotors();
var healthyMotors = getHealthyShooterMotors();
for (var motor : healthyMotors) {
motor.setVelocityTarget(velocity);
}

if (isInLowPowerMode) {
// In low power mode, we want all the other motors that are NOT our
// main healthy motor, that is still healthy.
var otherMotors = allMotors.stream()
.filter(motor -> !healthyMotors.contains(motor)
&& motor.getHealth() == DeviceHealth.Healthy)
.toList();
for (var motor : otherMotors) {
motor.setVelocityTarget(lowPowerModeVelocity.get());
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@aschokking aschokking Mar 21, 2026

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we should set the min value between lowPowerModeVelocity and velocity, otherwise when we're seeing 0rpm in general across all 3motors, this is going to cause 2 of them to spin right?

}
}
}

public boolean isReadyToFire() {
Expand Down