Fixed Shooter code. Renamed all encoders to include what type of encoder they are.

Author: rossydang

src/main/java/frc/robot/commands/shooter/ShootBall.java

@@ -43,7 +43,7 @@ public ShootBall(Shooter shooter, Indexer indexer, Limelight limelight) {
         this.indexer = indexer;
         this.limelight = limelight;
         addRequirements(shooter, indexer);
-
+  
         tab = Shuffleboard.getTab("Shooter");
         targetShooterVelocityEntry = tab.add("Target Shooter Velocity", Constants.SHOOTER_DEFAULT_RPM).withProperties(Map.of("min", 0)).getEntry();
         distanceSetPointEntry = tab.add("Shooter Distance Setpoint", Constants.HOOD_SET_POINT_DISTANCE).withProperties(Map.of("min", 0)).getEntry();

src/main/java/frc/robot/constants/Constants.java

@@ -65,10 +65,10 @@ public final class Constants {
 
     public static final SimpleMotorFeedforward FEED_FORWARD = new SimpleMotorFeedforward(ksVolts, kvVoltSecondsPerMeter, kaVoltSecondsSquaredPerMeter);
 
-    public static int ENCODER_TICKS_PER_REVOLUTION = 8192;
+    public static int QUADRATURE_ENCODER_TICKS_PER_REVOLUTION = 8192;
 
     //Talon bits.
-    public static int ENCODER_TICKS_PER_REVOLUTION_TALON = 8192;
+    public static int ENCODER_TICKS_PER_REVOLUTION_FALCON = 2048; //used to be 8192. Change this to current valye for dalcon motors!!!
     public static int TALON_PID_LOOP_IDX = 0;
     public static int TALON_CONFIG_TIMOUT_MS = 30;
     // 1023 is output in ?? at 100% power.  20660 is velocity at 100%

src/main/java/frc/robot/util/Util.java

@@ -30,27 +30,24 @@ private static double getEncoderTicksFromInches(int wheel_diameter, double inche
 		double inchesPerRevolution = Math.PI * wheel_diameter;
 
 		double revolutions = inches / inchesPerRevolution;
-		double ticks = revolutions * ENCODER_TICKS_PER_REVOLUTION;
+		double ticks = revolutions * QUADRATURE_ENCODER_TICKS_PER_REVOLUTION;
 
 		return ticks;
 	}
 
-	public static double getInchesFromEncoderTicks(double encoder_ticks) {
-		return getInchesFromEncoderTicks(WHEEL_DIAMETER, encoder_ticks);
-	}
 
 	private static double getInchesFromEncoderTicks(int wheel_diameter, double encoder_ticks) {
 
 		double inchesPerRevolution = Math.PI * wheel_diameter;
-		double revolutions = encoder_ticks * ENCODER_TICKS_PER_REVOLUTION;
+		double revolutions = encoder_ticks * QUADRATURE_ENCODER_TICKS_PER_REVOLUTION;
 
 		double inches = (revolutions) / (inchesPerRevolution);
 
 		return inches;
 	}
 
 	public static double getMetersFromEncoderTicks(double ticks) {
-		return (WHEEL_CIRCUMFERENCE_METERS / ENCODER_TICKS_PER_REVOLUTION) * ticks;
+		return (WHEEL_CIRCUMFERENCE_METERS / QUADRATURE_ENCODER_TICKS_PER_REVOLUTION) * ticks;
 	}
 	public static double stepsPerDecisecToMetersPerSec(double d) {
 		return getMetersFromEncoderTicks(d * 10);
@@ -61,11 +58,11 @@ public static double metersPerSecToStepsPerDecisec(double metersPerSec) {
 	}
 
 	public static double getEncoderTicksFromMeters(double meters) {
-		return (meters / WHEEL_CIRCUMFERENCE_METERS) * ENCODER_TICKS_PER_REVOLUTION;
+		return (meters / WHEEL_CIRCUMFERENCE_METERS) * QUADRATURE_ENCODER_TICKS_PER_REVOLUTION;
 	}
 
 	public static double getRevolutionsFromTicks(double encoder_ticks) {
-		double revolutions =  encoder_ticks / ENCODER_TICKS_PER_REVOLUTION;
+		double revolutions =  encoder_ticks / QUADRATURE_ENCODER_TICKS_PER_REVOLUTION;
 		return revolutions;
 	}
 
@@ -90,15 +87,16 @@ public static double degreesToMoveHood(double ticks) {
 	}
 
 	public static double ticksFromRPM(int rpm){
-		double ticksPer100Ms = ((((rpm * ENCODER_TICKS_PER_REVOLUTION_TALON)
+		double ticksPer100Ms = ((((rpm * ENCODER_TICKS_PER_REVOLUTION_FALCON)
 									/SHOOTER_GEAR_RATIO)
 									/60)  //mintues to seconds
 									/10); // seconds to 100ms
 		return ticksPer100Ms;
 	}
 
 	public static double RPMFromTicks (double ticksPer100ms) {
-		double rpm = ticksPer100ms * 600 * SHOOTER_GEAR_RATIO / ENCODER_TICKS_PER_REVOLUTION_TALON;
+		double rpm = ticksPer100ms * 600 * SHOOTER_GEAR_RATIO / ENCODER_TICKS_PER_REVOLUTION_FALCON;
+		 //I think we are calculating ticks per minute, not the actual RPM
 
 		return rpm;