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Turret Oscillation Prevention #20

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Turret Oscillation Prevention #20

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764cb64
Updated a library
Daniel-Tsur May 28, 2026
b65ce69
Apllied spotless
Daniel-Tsur May 31, 2026
3a83670
Moved the turret oscillation prevention to `ShootToTargetCmd` from `L…
Daniel-Tsur Jun 4, 2026
0631116
Merge branch 'main' into feature/turret_oscillation_prevention
Daniel-Tsur Jun 4, 2026
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29 changes: 29 additions & 0 deletions src/main/java/frc/robot/subsystems/shooter/ShootToTargetCmd.java
View file
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Original file line number Diff line number Diff line change
@@ -1,5 +1,7 @@
package frc.robot.subsystems.shooter;

import static edu.wpi.first.units.Units.Degrees;

import edu.wpi.first.math.filter.Debouncer;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
Expand Down Expand Up @@ -28,6 +30,12 @@ private enum FeedState {
private final HoodSubsystem m_hood;
private final FlywheelSubsystem m_flywheel;

private final double turretCloseToEdgeDegrees = 2;
private final double turretYRobotHighSpeedCap = 1;

private Supplier<Pose2d> estimatedRobotPoseSupplier;
private Supplier<ChassisSpeeds> robotSpeedsSupplier;
private Supplier<ChassisSpeeds> fieldSpeedsSupplier;
private Supplier<Pose2d> m_robotPoseSupplier = Pose2d::new;
private Supplier<ChassisSpeeds> m_robotRelativeSpeedsSupplier = ChassisSpeeds::new;
private Supplier<ChassisSpeeds> m_fieldRelativeSpeedsSupplier = ChassisSpeeds::new;
Expand Down Expand Up @@ -117,6 +125,27 @@ private void updateShooter() {
target);

m_turret.runAngleDirect(params.turretAngle());

boolean shouldTurretTurn = false;
double deg = params.turretAngle().in(Degrees);

if (Math.abs(robotSpeedsSupplier.get().vxMetersPerSecond) < turretYRobotHighSpeedCap) {
if ((deg < turretCloseToEdgeDegrees
&& robotSpeedsSupplier.get().vyMetersPerSecond
< 0) // at left side of hub and moving to the right
|| (360 - deg < turretCloseToEdgeDegrees
&& robotSpeedsSupplier.get().vyMetersPerSecond
> 0)) { // at right side of hub and moving to the left
shouldTurretTurn = false;
}
} else {
shouldTurretTurn = true;
}

if (shouldTurretTurn) {
m_turret.runAngleDirect(params.turretAngle());
}

m_flywheel.runVelocityDirect(params.flywheelAngularVelocity());
m_hood.runAngleDirect(params.hoodAngle());
}
Expand Down
68 changes: 34 additions & 34 deletions vendordeps/Phoenix6-replay-frc2026-latest.json
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
{
"fileName": "Phoenix6-replay-frc2026-latest.json",
"name": "CTRE-Phoenix (v6) Replay",
"version": "26.2.0",
"version": "26.3.0",
"frcYear": "2026",
"uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af",
"mavenUrls": [
Expand All @@ -19,14 +19,14 @@
{
"groupId": "com.ctre.phoenix6",
"artifactId": "wpiapi-java",
"version": "26.2.0"
"version": "26.3.0"
}
],
"jniDependencies": [
{
"groupId": "com.ctre.phoenix6",
"artifactId": "api-cpp",
"version": "26.2.0",
"version": "26.3.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
Expand All @@ -37,7 +37,7 @@
{
"groupId": "com.ctre.phoenix6",
"artifactId": "tools",
"version": "26.2.0",
"version": "26.3.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
Expand All @@ -48,7 +48,7 @@
{
"groupId": "com.ctre.phoenix6.replay",
"artifactId": "api-cpp-replay",
"version": "26.2.0",
"version": "26.3.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
Expand All @@ -62,7 +62,7 @@
{
"groupId": "com.ctre.phoenix6.replay",
"artifactId": "tools-replay",
"version": "26.2.0",
"version": "26.3.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
Expand All @@ -76,7 +76,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "api-cpp-sim",
"version": "26.2.0",
"version": "26.3.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
Expand All @@ -90,7 +90,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "tools-sim",
"version": "26.2.0",
"version": "26.3.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
Expand All @@ -104,7 +104,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simTalonSRX",
"version": "26.2.0",
"version": "26.3.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
Expand All @@ -118,7 +118,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simVictorSPX",
"version": "26.2.0",
"version": "26.3.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
Expand All @@ -132,7 +132,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simPigeonIMU",
"version": "26.2.0",
"version": "26.3.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
Expand All @@ -146,7 +146,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProTalonFX",
"version": "26.2.0",
"version": "26.3.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
Expand All @@ -160,7 +160,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProTalonFXS",
"version": "26.2.0",
"version": "26.3.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
Expand All @@ -174,7 +174,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProCANcoder",
"version": "26.2.0",
"version": "26.3.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
Expand All @@ -188,7 +188,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProPigeon2",
"version": "26.2.0",
"version": "26.3.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
Expand All @@ -202,7 +202,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProCANrange",
"version": "26.2.0",
"version": "26.3.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
Expand All @@ -216,7 +216,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProCANdi",
"version": "26.2.0",
"version": "26.3.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
Expand All @@ -230,7 +230,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProCANdle",
"version": "26.2.0",
"version": "26.3.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
Expand All @@ -246,7 +246,7 @@
{
"groupId": "com.ctre.phoenix6",
"artifactId": "wpiapi-cpp",
"version": "26.2.0",
"version": "26.3.0",
"libName": "CTRE_Phoenix6_WPI",
"headerClassifier": "headers",
"sharedLibrary": true,
Expand All @@ -259,7 +259,7 @@
{
"groupId": "com.ctre.phoenix6",
"artifactId": "tools",
"version": "26.2.0",
"version": "26.3.0",
"libName": "CTRE_PhoenixTools",
"headerClassifier": "headers",
"sharedLibrary": true,
Expand All @@ -272,7 +272,7 @@
{
"groupId": "com.ctre.phoenix6.replay",
"artifactId": "wpiapi-cpp-replay",
"version": "26.2.0",
"version": "26.3.0",
"libName": "CTRE_Phoenix6_WPIReplay",
"headerClassifier": "headers",
"sharedLibrary": true,
Expand All @@ -288,7 +288,7 @@
{
"groupId": "com.ctre.phoenix6.replay",
"artifactId": "tools-replay",
"version": "26.2.0",
"version": "26.3.0",
"libName": "CTRE_PhoenixTools_Replay",
"headerClassifier": "headers",
"sharedLibrary": true,
Expand All @@ -304,7 +304,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "wpiapi-cpp-sim",
"version": "26.2.0",
"version": "26.3.0",
"libName": "CTRE_Phoenix6_WPISim",
"headerClassifier": "headers",
"sharedLibrary": true,
Expand All @@ -320,7 +320,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "tools-sim",
"version": "26.2.0",
"version": "26.3.0",
"libName": "CTRE_PhoenixTools_Sim",
"headerClassifier": "headers",
"sharedLibrary": true,
Expand All @@ -336,7 +336,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simTalonSRX",
"version": "26.2.0",
"version": "26.3.0",
"libName": "CTRE_SimTalonSRX",
"headerClassifier": "headers",
"sharedLibrary": true,
Expand All @@ -352,7 +352,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simVictorSPX",
"version": "26.2.0",
"version": "26.3.0",
"libName": "CTRE_SimVictorSPX",
"headerClassifier": "headers",
"sharedLibrary": true,
Expand All @@ -368,7 +368,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simPigeonIMU",
"version": "26.2.0",
"version": "26.3.0",
"libName": "CTRE_SimPigeonIMU",
"headerClassifier": "headers",
"sharedLibrary": true,
Expand All @@ -384,7 +384,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProTalonFX",
"version": "26.2.0",
"version": "26.3.0",
"libName": "CTRE_SimProTalonFX",
"headerClassifier": "headers",
"sharedLibrary": true,
Expand All @@ -400,7 +400,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProTalonFXS",
"version": "26.2.0",
"version": "26.3.0",
"libName": "CTRE_SimProTalonFXS",
"headerClassifier": "headers",
"sharedLibrary": true,
Expand All @@ -416,7 +416,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProCANcoder",
"version": "26.2.0",
"version": "26.3.0",
"libName": "CTRE_SimProCANcoder",
"headerClassifier": "headers",
"sharedLibrary": true,
Expand All @@ -432,7 +432,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProPigeon2",
"version": "26.2.0",
"version": "26.3.0",
"libName": "CTRE_SimProPigeon2",
"headerClassifier": "headers",
"sharedLibrary": true,
Expand All @@ -448,7 +448,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProCANrange",
"version": "26.2.0",
"version": "26.3.0",
"libName": "CTRE_SimProCANrange",
"headerClassifier": "headers",
"sharedLibrary": true,
Expand All @@ -464,7 +464,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProCANdi",
"version": "26.2.0",
"version": "26.3.0",
"libName": "CTRE_SimProCANdi",
"headerClassifier": "headers",
"sharedLibrary": true,
Expand All @@ -480,7 +480,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProCANdle",
"version": "26.2.0",
"version": "26.3.0",
"libName": "CTRE_SimProCANdle",
"headerClassifier": "headers",
"sharedLibrary": true,
Expand Down
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