more motor tuning, added absolute encoder setting to smartDashboard

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

@@ -272,7 +272,7 @@ public static final class ShooterConstants{
   public static final double SHOOTER_ANGLE_TOLERANCE = 0.5;
   public static final double SHOOTER_HEIGHT = 0.1;
   public static final double ANGLE_TICKS_PER_DEGREE = 2491;
-  public static final double DEGREES_PER_ROTATION = 2491;
+  public static final double DEGREES_PER_ROTATION = 360;
   public static final double DISTANCE_MULTIPLIER = 0;
   public static final double OFFSET_MULTIPLIER = 1;
 
@@ -314,11 +314,11 @@ public static final class IndexerConstants{
   public static final double INDEXER_SPEED = 2491;
 }
 public static final class IntakeConstants{
-  public static final int INTAKE_1_MOTOR = 2491;
-  public static final int INTAKE_2_MOTOR = 2491;
-  public static final int BRUSH_1_MOTOR = 2491;
-  public static final int BRUSH_2_MOTOR = 2491;
-  public static final int BRUSH_3_MOTOR = 2491;
+  public static final int INTAKE_1_MOTOR = 20;
+  public static final int INTAKE_2_MOTOR = 21;
+  public static final int BRUSH_1_MOTOR = 22;
+  public static final int BRUSH_2_MOTOR = 23;
+  public static final int BRUSH_3_MOTOR = 24;
   public static final double INTAKE_SPEED = 0.75;
 }
 public static final class CTREConfigs {

src/main/java/frc/robot/subsystems/AngleShooterSubsystem.java

@@ -13,49 +13,56 @@
 
 import com.ctre.phoenix6.hardware.CANcoder;
 import com.revrobotics.CANSparkMax;
+import com.revrobotics.SparkAbsoluteEncoder;
 import com.revrobotics.SparkPIDController;
 import com.revrobotics.CANSparkLowLevel.MotorType;
+import com.revrobotics.SparkAbsoluteEncoder.Type;
 
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.kinematics.ChassisSpeeds;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.DriverStation.Alliance;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class AngleShooterSubsystem extends SubsystemBase {
 	CANSparkMax pitchMotor;
 	SparkPIDController pitchPID;
-	CANcoder angleEncoder;
+	SparkAbsoluteEncoder absoluteEncoder;
 	double shootingSpeed = ShooterConstants.SHOOTING_SPEED_MPS;
 	public static Pose2d dtvalues;
 	public static ChassisSpeeds DTChassisSpeeds;
 
 	public AngleShooterSubsystem() {
 		pitchMotor = new CANSparkMax(ShooterConstants.PITCH_MOTOR_ID, MotorType.kBrushless);
-
+		pitchMotor.setInverted(true);
 		pitchPID = pitchMotor.getPIDController();
-
 		pitchPID.setFF(ShooterConstants.pitchFeedForward);
-	}
 
+		absoluteEncoder = pitchMotor.getAbsoluteEncoder(Type.kDutyCycle);
+		absoluteEncoder.setPositionConversionFactor(1);
+		absoluteEncoder.setInverted(false);
+		SmartDashboard.putData("set zero offset", new InstantCommand(()->absoluteEncoder.setZeroOffset(SmartDashboard.getNumber("shooter encoder zero offset", absoluteEncoder.getZeroOffset()))));
+	}
+
 	public void pitchShooter(double pitchSpeed) {
 		pitchMotor.set(pitchSpeed);
 	}
-
+	
 	public double getShooterAngle() {
-		return angleEncoder.getPosition().getValueAsDouble() * ShooterConstants.DEGREES_PER_ROTATION;
+		return absoluteEncoder.getPosition() * ShooterConstants.DEGREES_PER_ROTATION;
 	}
-
+	
 	public static void setDTPose(Pose2d pose) {
 		dtvalues = pose;
 	}
-
+	
 	public static void setDTChassisSpeeds(ChassisSpeeds speeds) {
 		DTChassisSpeeds = speeds;
 	}
-
+	
 	public double calculateSpeakerAngleDifference() {
 		double deltaX;
 		shootingSpeed = ShooterConstants.SHOOTING_SPEED_MPS;
@@ -69,19 +76,19 @@ public double calculateSpeakerAngleDifference() {
 		double deltaY = Math.abs(dtvalues.getY() - Field.SPEAKER_Y);
 		double speakerDist = Math.sqrt(Math.pow(deltaY, 2) + Math.pow(deltaX, 2));
 		SmartDashboard.putNumber("dist to speakre", speakerDist);
-
+		
 		double shootingTime = speakerDist / shootingSpeed; // calculates how long the note will take to reach the target
 		double currentXSpeed = DTChassisSpeeds.vxMetersPerSecond;
 		double currentYSpeed = DTChassisSpeeds.vyMetersPerSecond;
 		Translation2d targetOffset = new Translation2d(currentXSpeed * shootingTime*OFFSET_MULTIPLIER, currentYSpeed * shootingTime*OFFSET_MULTIPLIER);
 		// line above calculates how much our current speed will affect the ending
 		// location of the note if it's in the air for ShootingTime
-
+		
 		// next 3 lines set where we actually want to aim, given the offset our shooting
 		// will have based on our speed
 		double offsetSpeakerY = Field.SPEAKER_Y + targetOffset.getY();
 		double offsetSpeakerX;
-
+		
 		if (DriverStation.getAlliance().isPresent() && DriverStation.getAlliance().get() == Alliance.Red) {
 			offsetSpeakerX = Field.RED_SPEAKER_X + targetOffset.getX();
 		} else {
@@ -92,20 +99,24 @@ public double calculateSpeakerAngleDifference() {
 		double offsetSpeakerdist = Math.sqrt(Math.pow(offsetDeltaX, 2) + Math.pow(offsetDeltaY, 2));
 		SmartDashboard.putString("offset amount", targetOffset.toString());
 		SmartDashboard.putString("offset speaker location",
-				new Translation2d(offsetSpeakerX, offsetSpeakerY).toString());
+		new Translation2d(offsetSpeakerX, offsetSpeakerY).toString());
 		// getting desired robot angle
 		double totalDistToSpeaker = Math
 				.sqrt(Math.pow(offsetSpeakerdist, 2) + Math.pow(Field.SPEAKER_Z - ShooterConstants.SHOOTER_HEIGHT, 2));
 		double desiredShooterAngle = Math
-				.toDegrees(Math.asin(Field.SPEAKER_Z - ShooterConstants.SHOOTER_HEIGHT / totalDistToSpeaker));
+		.toDegrees(Math.asin(Field.SPEAKER_Z - ShooterConstants.SHOOTER_HEIGHT / totalDistToSpeaker));
 		desiredShooterAngle = desiredShooterAngle+(speakerDist*DISTANCE_MULTIPLIER);
 		SmartDashboard.putNumber("desired shooter angle", desiredShooterAngle);
-
+		
 		double differenceAngle = (desiredShooterAngle - this.getShooterAngle());
 		SmartDashboard.putNumber("differenceAngleShooter", differenceAngle);
-
+		
 		return differenceAngle;
 	}
-
 
+	@Override
+	public void periodic() {
+		SmartDashboard.putNumber("shooter angle encoder position", absoluteEncoder.getPosition());
+		SmartDashboard.putNumber("shooter encoder zero offset", absoluteEncoder.getZeroOffset());
+	}
 }

src/main/java/frc/robot/subsystems/IntakeSubsystem.java

@@ -26,7 +26,7 @@ public class IntakeSubsystem extends SubsystemBase {
   double intakeRunSpeed;
   public IntakeSubsystem() {
     intake1 = new CANSparkMax(IntakeConstants.INTAKE_1_MOTOR, MotorType.kBrushless);
-    intake2 = new CANSparkMax(IntakeConstants.INTAKE_1_MOTOR, MotorType.kBrushless);
+    intake2 = new CANSparkMax(IntakeConstants.INTAKE_2_MOTOR, MotorType.kBrushless);
     brush1 = new CANSparkMax(IntakeConstants.BRUSH_1_MOTOR, MotorType.kBrushless);
     brush2 = new CANSparkMax(IntakeConstants.BRUSH_2_MOTOR, MotorType.kBrushless);
     brush3 = new CANSparkMax(IntakeConstants.BRUSH_3_MOTOR, MotorType.kBrushless);

src/main/java/frc/robot/subsystems/ShooterSubsystem.java

@@ -63,6 +63,7 @@ public ShooterSubsystem(double runSpeed) {
     shooterR = new TalonFX(ShooterConstants.SHOOTER_R_MOTORID);
     shooterL = new TalonFX(ShooterConstants.SHOOTER_L_MOTORID);
     shooterL.setInverted(true);
+    shooterR.setInverted(false);
     shooterL.setControl(shooterR.getAppliedControl());
     shooterL.setNeutralMode(NeutralModeValue.Coast);
     shooterR.setNeutralMode(NeutralModeValue.Coast);