Shuttling/Shot Modes Update - #97
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Adam-Kolt wants to merge 26 commits into
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Also I guess it needs fixing to actually build/needs the new code pulled into it before merging. @cjayamanne and @Adamtheboss9 you guys can build off of this or take whatever you need for the issue. |
heatonk
self-requested a review
April 6, 2026 20:52
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Need to create new table for shuttle calibrations in order to correct and merge this code. |
…ttle-make-gooderer
Initialize turret zeroing during autonomous setup and implement zeroing support; reduce auto wait times and tweak path/shooter constants. Changes: - Autos: lower waitTime from 3.5s to 3.0s in Left/Right 5010 Double autos. - Path: adjust goalEndState.rotation in TL-CTL-QTL-BL-L.path. - Launcher: add zeroTurret() on Launcher and LauncherIO, call launcher.zeroTurret() during autonomous setup (guarded by RobotState.isAutonomous()). - LauncherIOReal: implement zeroTurret() using CANcoder absolute position (added StatusSignal import) and set turret angle with encoder offset. - ShotCalculator: adjust several mapping entries (e.g. 4.5403 -> 118.114, 10.9907 -> 158.0, 13.0240 -> 173.0) to refine shot parameters. These changes ensure the turret is correctly zeroed at auto start and update timing/ballistics/path rotation data to match tuning results.
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I drafted up this code for the different shot-types before comp, but didn't push the commit/branch. Should be alright, but needs testing.