Add ShooterDefaultCommand to warm up shooter to configurable RPM#414
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aschokking wants to merge 3 commits intomainfrom
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Add ShooterDefaultCommand to warm up shooter to configurable RPM#414aschokking wants to merge 3 commits intomainfrom
aschokking wants to merge 3 commits intomainfrom
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Replaces ShooterStopCommand as the shooter setpoint lock default, so the shooter warms up to a tunable velocity (default 2500 RPM) when no other command is active. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
Adds PoseSubsystem.isInAllianceZone() to check if the robot is on its own half of the field. ShooterDefaultCommand now continuously checks position and only spins up to warm-up RPM in the alliance zone, setting target to 0 RPM otherwise to save power. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
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Why are we doing this?
The drive team often doesn't have the shooter up to speed when they mean to shoot.
From match logs, the shooters pull ~3A each when the shooter is at 2500 RPM steady state.
Asana task URL:
Whats changing?
Replaces ShooterStopCommand as the shooter setpoint lock default, so the shooter warms up to a tunable velocity (default 2500 RPM) when no other command is active.
Questions/notes for reviewers
How this was tested
Video/screenshots (from simulator or live robot)
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