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setTargetVelocity to setTargetPercent #72

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merged 4 commits into from
Jan 27, 2024
Merged

setTargetVelocity to setTargetPercent #72

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b4081e9
Add set percentage method in Neo & change set Target velocity in Shoo…
derp00monsta Jan 27, 2024
61c9323
change set target velocity to set target percent in Shooter.java and …
derp00monsta Jan 27, 2024
39c6845
Add dcoumentation for setTargetPercent method in Neo.java
derp00monsta Jan 27, 2024
7825768
Fix documentation
derp00monsta Jan 27, 2024
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2 changes: 1 addition & 1 deletion src/main/java/frc/robot/subsystems/Shooter.java
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Original file line number Diff line number Diff line change
Expand Up @@ -55,7 +55,7 @@ public Command shoot(Pose2d position, boolean shootingAtSpeaker) {
SpeedAnglePair pair = calculateSpeed(position, shootingAtSpeaker);
return runOnce(() -> motorLeft.setTargetPercent(1));
}
//TODO: change target velocity to target percent

public Command stop() {
return runOnce(() -> motorLeft.setTargetPercent(0));
}
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6 changes: 6 additions & 0 deletions src/main/java/frc/robot/util/Neo.java
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Original file line number Diff line number Diff line change
Expand Up @@ -100,10 +100,16 @@ public void setTargetPosition(double position) {
setTargetPosition(position, 0, 0);
}

// Creates method to set the target percent of the volatge for the NEO.
public void setTargetPercent(double percent) {
setTargetPercent(percent, 0);
}

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If you would like, you can add a javadoc here that explains what the method does. If you don't know exactly how to approach it. Take a look at the SpeedAngleTriplet/ShooterCalc file for inspiration. Thankfully it doesn't do much so it doesn't have to be long and descriptive as some of the ones I linked are.

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I added some documentation simialr to the one you had for setTargetVelocity but since you had lines 103 & 104 selcted I added a doc to that too. Do you want me to change it or add more?

/**
* Sets the target percent of voltage for the NEO.
* @param percent Percent of battery voltage
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Rather than percent of battery voltage, this parameter represents the percent output for the motor. For example, if we give it a 100% input (1) then it will go at 100% speed. If we give it a -50% input, (-0.5) it will go at -50% speed.

* @param slot The PID slot.
*/
public void setTargetPercent(double percent, int slot) {
percent *= reversedMultiplier;
if (percent == 0) {
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