SHOT-06: First spin-up with no flywheel numbers

high prioritySimulator or real robotabout 10 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: v0.17.1 or newer.
• The docs it tests: Tunables.java: every number, part by part, Tunables.java: every number, part by part, Lesson 9: A shooter, a camera and a turret (for robots that shoot).

Why

A new launcher should work before anyone has run the Flywheel Finder. With kP to kF and speedRpm written as DEFAULT_FROM_CATALOG in Tunables.java, the library starts from numbers worked out from the motor in the parts catalog (kF 11.7, kP 1.17, kI 0.117 and 3600 RPM for a goBILDA 6000 RPM motor). We want to know these starting values spin YOUR wheel to its speed.

Safety

• Safety glasses. Nobody in front of the launcher. No pieces loaded.
• Robot on a block or held so it cannot move.

Setup

• Launcher.flywheel("name", "motor-id") in Robot.java, with the real motor's catalog id.
• In Tunables.java, the launcher's kP, kI, kD, kF and speedRpm written as DEFAULT_FROM_CATALOG (import static com.crossbotics.ftchelper.robot.Starting.*; at the top). Note your own numbers first, to put them back after.
• A charged battery (12.5 V or more).

Steps

1. INIT your TeleOp. Read the note Launcher: defaults from the catalog (...) and write it down.
2. START. Press LB to spin up. Watch the speed on the Driver Station for 10 seconds.
3. Note how long it takes to show READY, and the speed it settles at.
4. Spin down. Put your own lines back in Tunables.java.

Pass rule

INIT shows the defaults note, and in step 2 the speed reaches READY within 3 s and stays within 3% of the target.

Record

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

• flywheel motor (catalog id), gearing, wheel (size, weight if known)
• the INIT note (its part, kF, kP, kI and speed)
• time to READY (seconds), and the speed it settled at (RPM)
• the battery voltage

If your robot is different

A geared flywheel or a belt: the catalog speed is the motor's, so say how it is built. A flywheel with no encoder cable cannot use this test: report "could not run".

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

No reports for this test yet: yours would be the first. Every test's reports.

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