SHOT-02: Never feeds a slow flywheel, and gives up after 3 s

high prioritySimulator or real robotabout 20 minShooter and shot tables

• Your robot needs: Flywheel shooter.
• Starter bots that fit: goBILDA starter bot, REV DUO starter bot, Studica starter bot.
• Library version: v0.16.0 or newer.
• The docs it tests: Lesson 9: A shooter, a camera and a turret (for robots that shoot), Lesson 9: A shooter, a camera and a turret (for robots that shoot).

Why

The launcher's two safety rules are the reason teams can trust the fire button: a piece is only fed when the wheel is at speed, and the launcher gives up after 3 s instead of firing late. Different feeders (a CR servo, a servo, a roller) must all follow them.

Safety

• Safety glasses. Nobody in front of the launcher.
• Real robot: a few pieces only, a clear space where shots land.

Setup

• A launcher with a feeder in Robot.java and its gains (SHOT-01).
• Simulator: lesson 9's goBILDA bot (-Probot=sim/robots/starter-bot-gobilda.properties, "goBILDA Bot TeleOp").

Steps

1. INIT your TeleOp, START. Load 3 pieces.
2. Without spinning up, tap RB (fire one). The wheel spins up and the piece waits; it is fed only when the speed is READY.
3. Hold RB: pieces fire one after another, each when the wheel is back at speed. Let go: no more are fed.
4. Make it unable to reach the speed. Real robot: STOP, power the robot off, unplug the flywheel motor's encoder cable, power on (the speed now reads 0, and the wheel may spin at full power: unload every piece first and watch the feeder instead). Simulator: lower the battery on the page (Robot tab) until the wheel cannot reach READY (if it still reaches READY, say so and skip step 5). INIT, START, tap RB.
5. After about 3 s the Driver Station says Launcher gave up: flywheel and the feeder does not move. Real robot: power off and plug the encoder cable back in.

Pass rule

No piece is fed before READY (0 of 3), and in step 5 it gives up within 3.5 s and feeds nothing.

Record

Write these down while you test. The report form has them as a list to fill in.

• feeder type (CR servo, servo, roller motor) and feedSec or pushSec
• pieces fed per RB tap (should be 1)
• time between shots while RB is held (seconds)
• what the Driver Station said in step 5

If your robot is different

If your feeder pushes two pieces at once, lower feedSec (or pushSec) and say what worked. A launcher with extra "ready" checks (requireReady(...)) should name them when it gives up: report the words you saw.

Report your result

Pass, fail, or could not run: every result helps. The form opens on GitHub with this test filled in (a free GitHub account is needed). No student names, please.

Report result

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