Remove flywheel ref system speed adjustments

ut-ras · May 23, 2024 · 96044ce · 96044ce
1 parent b2ad5ea
commit 96044ce
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Showing 6 changed files with 11 additions and 49 deletions.
diff --git a/ut-robomaster/src/robots/hero/hero_constants.hpp b/ut-robomaster/src/robots/hero/hero_constants.hpp
@@ -136,9 +136,7 @@ static constexpr float WHEEL_MAX_VEL = 120.0f;  // rad/s
 static constexpr float MAX_LINEAR_VEL = WHEEL_MAX_VEL * WHEEL_RADIUS;               // m/s
 static constexpr float MAX_ANGULAR_VEL = WHEEL_MAX_VEL * WHEEL_RADIUS / WHEEL_LXY;  // rad/s
 
-static constexpr float DEFAULT_SPEED = 60.0f;  // default speed for the flywheels
-
-static constexpr modm::Pair<uint16_t, float> FLYWHEEL_RPS_MAPPING[] = {{10, 105.0f}, {16, 190.0f}};
+static constexpr float FLYWHEEL_SPEED = 190.0f;  // 16 m/s
 
 const float BALLS_PER_SEC = 4.0f;
 const float BALLS_PER_REV = 6.0f;

diff --git a/ut-robomaster/src/robots/sentry/sentry_constants.hpp b/ut-robomaster/src/robots/sentry/sentry_constants.hpp
@@ -135,11 +135,7 @@ static constexpr float WHEEL_MAX_VEL = 50.0f;  // rad/s
 static constexpr float MAX_LINEAR_VEL = WHEEL_MAX_VEL * WHEEL_RADIUS;               // m/s
 static constexpr float MAX_ANGULAR_VEL = WHEEL_MAX_VEL * WHEEL_RADIUS / WHEEL_LXY;  // rad/s
 
-static constexpr modm::Pair<uint16_t, float> FLYWHEEL_RPS_MAPPING[] = {
-    {15, 67.0f},
-    {18, 75.0f},
-    {30, 122.0f}};
-static constexpr float DEFAULT_SPEED = 70.0f;
+static constexpr float FLYWHEEL_SPEED = 122.0f;  // 30 m/s
 
 const float BALLS_PER_SEC = 10.0f;
 const float BALLS_PER_REV = 8.0f;

diff --git a/ut-robomaster/src/robots/standard/standard_constants.hpp b/ut-robomaster/src/robots/standard/standard_constants.hpp
@@ -131,11 +131,7 @@ static constexpr float WHEEL_MAX_VEL = 50.0f;  // rad/s
 static constexpr float MAX_LINEAR_VEL = WHEEL_MAX_VEL * WHEEL_RADIUS;               // m/s
 static constexpr float MAX_ANGULAR_VEL = WHEEL_MAX_VEL * WHEEL_RADIUS / WHEEL_LXY;  // rad/s
 
-static constexpr modm::Pair<uint16_t, float> FLYWHEEL_RPS_MAPPING[] = {
-    {15, 67.0f},
-    {18, 75.0f},
-    {30, 122.0f}};
-static constexpr float DEFAULT_SPEED = 70.0f;
+static constexpr float FLYWHEEL_SPEED = 122.0f;  // 30 m/s
 
 const float BALLS_PER_SEC = 10.0f;
 const float BALLS_PER_REV = 8.0f;

diff --git a/ut-robomaster/src/subsystems/flywheel/command_rotate_flywheel.cpp b/ut-robomaster/src/subsystems/flywheel/command_rotate_flywheel.cpp
@@ -3,39 +3,9 @@
 namespace commands
 {
 
-void CommandRotateFlywheel::initialize() {}
+void CommandRotateFlywheel::initialize() { flywheel->setLaunchSpeed(FLYWHEEL_SPEED); }
 
-void CommandRotateFlywheel::execute()
-{
-    if (drivers->refSerial.getRefSerialReceivingData())
-    {
-        auto turretData = drivers->refSerial.getRobotData().turret;
-
-#if defined(TARGET_STANDARD) || defined(TARGET_SENTRY)
-        uint16_t speedLimit = turretData.barrelSpeedLimit17ID1;
-#elif defined(TARGET_HERO)
-        uint16_t speedLimit = turretData.barrelSpeedLimit42;
-#endif
-
-        float launchSpeed = 0.0f;
-
-        for (int i = 0; i < 3; i++)
-        {
-            if (FLYWHEEL_RPS_MAPPING[i].getFirst() == speedLimit)
-            {
-                launchSpeed = FLYWHEEL_RPS_MAPPING[i].getSecond();
-                break;
-            }
-        }
-
-        flywheel->setLaunchSpeed(launchSpeed);
-    }
-    else
-    {
-        // NO REF SYSTEM DATA
-        flywheel->setLaunchSpeed(DEFAULT_SPEED);
-    }
-}
+void CommandRotateFlywheel::execute() {}
 
 void CommandRotateFlywheel::end(bool) { flywheel->setLaunchSpeed(0.0f); }
 

diff --git a/ut-robomaster/src/subsystems/flywheel/flywheel_subsystem.cpp b/ut-robomaster/src/subsystems/flywheel/flywheel_subsystem.cpp
@@ -37,9 +37,9 @@ void FlywheelSubsystem::refresh()
     for (int i = 0; i < FLYWHEELS; i++)
     {
         motors[i].setActive(!killSwitch);
-        motors[i].update(launchSpeed);
+        motors[i].update(velocity);
     }
 }
 
-void FlywheelSubsystem::setLaunchSpeed(float speed) { launchSpeed = speed; }
+void FlywheelSubsystem::setVelocity(float newVelocity) { velocity = newVelocity; }
 }  // namespace subsystems::flywheel
diff --git a/ut-robomaster/src/subsystems/flywheel/flywheel_subsystem.hpp b/ut-robomaster/src/subsystems/flywheel/flywheel_subsystem.hpp
@@ -26,12 +26,14 @@ class FlywheelSubsystem : public tap::control::Subsystem
 
     void refresh() override;
 
-    void setLaunchSpeed(float speed);
+    /// @brief Change flywheel velocity.
+    /// @param velocity Velocity in rev/s.
+    void setVelocity(float velocity);
 
 private:
     src::Drivers* drivers;
     MotorVelocityController motors[FLYWHEELS];
-    float launchSpeed = 0.0f;
+    float velocity = 0.0f;
 };
 
 }  // namespace flywheel