Increased speed of revolver during ShooterFiringSequence to 100% to help increase firing rate.

Author: coach-streeter

src/main/java/org/mayheminc/robot2020/commands/ShooterFiringSequence.java

@@ -25,21 +25,22 @@ public ShooterFiringSequence(double waitDuration) {
     // super(new FooCommand(), new BarCommand());
     super();
 
-    // shooting.
+    // Prepare for shooting.
     addCommands(new ParallelCommandGroup( // prepare for shooting,
-        new AirCompressorPause(), // Turn off compressor while actively shooting,
+        new AirCompressorPause(), // turn off compressor while actively shooting,
         new IntakeSetPosition(RobotContainer.intake.PIVOT_DOWN), // ensure intake is lowered,
-        new ShooterAimToTarget())); // take one last aim at the target before starting
+        new ShooterAimToTarget())); // and aim at the target (azimuth and elevation).
 
+    // prior command established aim; turn on the shooter wheels and maintain turret
     addCommands(new ParallelRaceGroup(new ShooterWheelSetToTarget(true), new TurretAimToTargetContinuously()));
 
     // turn on the feeder, wait 0.1, turn on the Chimney, wait 0.1, turn on the
-    // revolver turntable, shoot for specified duration
+    // revolver turntable, shoot for specified duration.
     // TODO: should really shoot until no balls detected any more
     addCommands(new ParallelRaceGroup( //
         new TurretAimToTargetContinuously(), // continue aiming while shooting
         new FeederSet(1.0), new SequentialCommandGroup(new Wait(0.1), new ChimneySet(1.0)),
-        new SequentialCommandGroup(new Wait(0.2), new RevolverSetTurntable(0.5)), new Wait(waitDuration)));
+        new SequentialCommandGroup(new Wait(0.2), new RevolverSetTurntable(1.0)), new Wait(waitDuration)));
 
     // turn off the feeder, chimney, and revolver, ending after 0.1 seconds
     addCommands(new ShooterCeaseFire());

src/main/java/org/mayheminc/robot2020/commands/TargetingIsOnTarget.java renamed to src/main/java/org/mayheminc/robot2020/commands/TurretIsOnTarget.java

@@ -14,11 +14,11 @@
 
 import edu.wpi.first.wpilibj2.command.CommandBase;
 
-public class TargetingIsOnTarget extends CommandBase {
+public class TurretIsOnTarget extends CommandBase {
   /**
    * Creates a new TargetingIsOnTarget.
    */
-  public TargetingIsOnTarget() {
+  public TurretIsOnTarget() {
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -30,12 +30,6 @@ public void initialize() {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    // double bearingToTarget = RobotContainer.targeting.getBearingToTarget();
-    // double rangeToTarget = RobotContainer.targeting.getRangeToTarget();
-
-    // RobotContainer.shooter.setTurretPositionRel(RobotContainer.shooter.getTurretPosition()
-    // + bearingToTarget);
-    // RobotContainer.shooter.setShooterWheelSpeed(Targeting.convertRangeToWheelSpeed(rangeToTarget));
   }
 
   // Called once the command ends or is interrupted.
@@ -46,16 +40,9 @@ public void end(boolean interrupted) {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    // boolean bearingGood = Math.abs(RobotContainer.targeting.getBearingToTarget())
-    // < 2;
-    // boolean wheelsGood =
-    // Math.abs(Targeting.convertRangeToWheelSpeed(RobotContainer.targeting.getRangeToTarget())
-    // - RobotContainer.shooter.getShooterWheelSpeed()) < 100;
-    // return bearingGood && wheelsGood;
-
     double targetPos = RobotContainer.targeting.getDesiredAzimuth();
     double turretPos = RobotContainer.turret.getPosition();
 
-    return ( Math.abs( targetPos - turretPos) < 50);
+    return (Math.abs(targetPos - turretPos) < 50);
   }
 }