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Bronco Bots

Shooter Mechanism

Shooter Subsystem Overview

Section titled “Shooter Subsystem Overview”

The Shooter class provided an abstraction layer upon the motor controls for the shooter. In general is is advised to avoid directly controlling motors and use the abstraction layer that Shooter.java provides.

Class Architecture

Section titled “Class Architecture”
Property Value
Package Path org.firstinspires.ftc.teamcode.systemsControls.Shooter
Type Utility / Subsystem

Constructor

Section titled “Constructor”
Argument Type Description
rightShootDrive DcMotorEx Reference to the rightShootDrive motor
leftShootDrive DcMotorEx Reference to the rightShootDrive motor
hoodServo Servo Reference to the servo which controls the angle of the hood

Method Reference

Section titled “Method Reference”

1. update

Section titled “1. update”
public void update()

Internally updates state as well as confirming RPM readings. Should be called once per loop.

Return Value

Section titled “Return Value”
Type Description
void Handles internal updates

2. getShooterState

Section titled “2. getShooterState”
public ShooterState getShooterState()

Returns the current state of the shooter.

Return Value

Section titled “Return Value”
Type Description
ShooterState Current state of the shooter (IDLE, SPINNING_UP, READY, or FIRED).

3. spinUp

Section titled “3. spinUp”
public void spinUp(float RPM)

Begins spinning the flywheel toward the requested RPM.

Parameters

Section titled “Parameters”
Name Type Description
RPM float Target flywheel RPM.

Return Value

Section titled “Return Value”
Type Description
void Starts accelerating the shooter.

4. spinUpByDistance

Section titled “4. spinUpByDistance”
public void spinUpByDistance(float distance)

Calculates the required RPM based on the supplied target distance and begins spinning the shooter.

Parameters

Section titled “Parameters”
Name Type Description
distance float Distance to the target.

Return Value

Section titled “Return Value”
Type Description
void Calculates and applies a target RPM.

5. spinUp

Section titled “5. spinUp”
public void spinUp(AprilTags tag)

Calculates the distance from the robot to an AprilTag and automatically spins the shooter to the appropriate RPM.

Parameters

Section titled “Parameters”
Name Type Description
tag AprilTags Target AprilTag.

Return Value

Section titled “Return Value”
Type Description
void Calculates the distance and begins spinning the shooter.

6. spinDown

Section titled “6. spinDown”
public void spinDown()

Stops both shooter motors and returns the shooter to the idle state.

Return Value

Section titled “Return Value”
Type Description
void Stops the shooter.

7. fire

Section titled “7. fire”
public void fire()

Marks the shooter as having fired. This is primarily used for shooter state tracking while the firing mechanism is implemented.

Return Value

Section titled “Return Value”
Type Description
void Updates the shooter state.

8. setMotorSpeed

Section titled “8. setMotorSpeed”
public void setMotorSpeed(float targetRPM)

Sets the shooter motor speed while automatically compensating for battery voltage.

Parameters

Section titled “Parameters”
Name Type Description
targetRPM float Desired flywheel RPM.

Return Value

Section titled “Return Value”
Type Description
void Applies the requested motor speed.

9. setHoodPosition

Section titled “9. setHoodPosition”
public void setHoodPosition(float position)

Moves the hood servo to the specified servo position.

Parameters

Section titled “Parameters”
Name Type Description
position float Servo position between the configured minimum and maximum limits.

Return Value

Section titled “Return Value”
Type Description
void Updates the hood position.

10. setLaunchAngle

Section titled “10. setLaunchAngle”
public void setLaunchAngle(float angle)

Sets the desired launch angle of the shooter. Internally converts the launch angle into the corresponding hood servo position.

Parameters

Section titled “Parameters”
Name Type Description
angle float Desired launch angle.

Return Value

Section titled “Return Value”
Type Description
void Updates the hood angle.

11. setTargetRPM

Section titled “11. setTargetRPM”
public void setTargetRPM(double targetRPM)

Updates the shooter’s target RPM if the shooter is currently active.

Parameters

Section titled “Parameters”
Name Type Description
targetRPM double Desired shooter RPM.

Return Value

Section titled “Return Value”
Type Description
void Updates the RPM when applicable.

12. setTargetRPM

Section titled “12. setTargetRPM”
public void setTargetRPM(double targetRPM, boolean force)

Updates the shooter RPM regardless of its current operating state.

Parameters

Section titled “Parameters”
Name Type Description
targetRPM double Desired shooter RPM.
force boolean Included for API compatibility. Forces the RPM update.

Return Value

Section titled “Return Value”
Type Description
void Applies the requested RPM.

13. startAutomaticTargeting

Section titled “13. startAutomaticTargeting”
public void startAuotmaticTargeting()

Enables automatic shooter targeting. While enabled, the shooter continuously recalculates its target RPM based on the detected target distance.

Return Value

Section titled “Return Value”
Type Description
void Enables automatic targeting mode.

Note: The method name contains a typo (Auotmatic) and should be called exactly as shown.

14. endAutomaticTargeting

Section titled “14. endAutomaticTargeting”
public void endAutomaticTargeting()

Disables automatic targeting and returns the shooter to manual mode.

Return Value

Section titled “Return Value”
Type Description
void Enables manual targeting mode.

15. getHoodAngle

Section titled “15. getHoodAngle”
public float getHoodAngle()

Returns the current hood servo position.

Return Value

Section titled “Return Value”
Type Description
float Current hood position.

16. getLaunchAngle

Section titled “16. getLaunchAngle”
public float getLaunchAngle()

Returns the current calculated launch angle.

Return Value

Section titled “Return Value”
Type Description
float Current launch angle.

17. getShooterMode

Section titled “17. getShooterMode”
public targetingMode getShooterMode()

Returns the current targeting mode.

Return Value

Section titled “Return Value”
Type Description
targetingMode Current targeting mode (AUTO or MANUEL).

18. getRPM

Section titled “18. getRPM”
public double getRPM()

Returns the average RPM of the left and right shooter motors.

Return Value

Section titled “Return Value”
Type Description
double Average measured shooter RPM.

19. getTargetRPM

Section titled “19. getTargetRPM”
public double getTargetRPM()

Returns the currently requested shooter RPM.

Return Value

Section titled “Return Value”
Type Description
double Current target RPM.

20. getBareMotorDPS

Section titled “20. getBareMotorDPS”
public static float getBareMotorDPS(float targetRPM)

Converts a desired bare motor RPM into the degrees-per-second value expected by the FTC SDK’s setVelocity() method.

This method exists because the gearbox has been removed from the motor, causing its actual encoder resolution to differ from what the SDK expects.

Parameters

Section titled “Parameters”
Name Type Description
targetRPM float Desired bare motor RPM.

Return Value

Section titled “Return Value”
Type Description
float Equivalent velocity in degrees per second.

Enums

Section titled “Enums”

ShooterState

Section titled “ShooterState”
Value Description
IDLE Shooter is stopped.
SPINNING_UP Flywheel is accelerating toward the target RPM.
READY Flywheel has reached the target RPM and is ready to fire.
FIRED The shooter has recently fired and is recovering.

targetingMode

Section titled “targetingMode”
Value Description
AUTO Target RPM is automatically calculated from the detected target distance.
MANUEL Target RPM is controlled manually by user code.