Shooter

# Shooter Subsystem Documentation
 
## Overview
The `Shooter` subsystem is responsible for controlling the robot's shooter mechanism, which uses two CANSparkMax brushless motors. It employs PID control to achieve precise RPM (rotations per minute) for accurate shooting.
 
### Features:
- Dual-motor control for top and bottom rollers
- PID control for precise velocity management
- SmartDashboard integration for telemetry and monitoring
- Brake and coast modes for motor safety
 
---
 
## Code Overview
 
### Motor Initialization
The subsystem initializes two `CANSparkMax` motors for controlling the shooter:
 
```java
shooterNeo1 = new CANSparkMax(topMotor, MotorType.kBrushless);
shooterNeo2 = new CANSparkMax(bottomMotor, MotorType.kBrushless);

Motor 1 (shooterNeo1): Controls the top roller.
Motor 2 (shooterNeo2): Controls the bottom roller.
Both motors are set to brake mode to prevent them from spinning when not powered.

PID Control

PID Controller Initialization

The Shooter subsystem uses two SparkPIDController instances to manage the velocity of the two motors:

m_pidController1 = shooterNeo1.getPIDController();
m_pidController2 = shooterNeo2.getPIDController();

PID Coefficients

The following coefficients are used for the PID control of both motors:

kP = 0.0004;
kI = 0;
kD = 0;
kIz = 0;
kFF = 0.00017;
kMaxOutput = 1;
kMinOutput = -1;

These coefficients determine how the motors respond to velocity errors and are used to fine-tune the shooter’s performance. The m_pidController1 and m_pidController2 are configured with these values.

Movement Control

`move(double speed)`

This method directly sets the speed for both motors. The top and bottom rollers move in opposite directions:

public void move(double speed) {
    shooterNeo1.set(speed);
    shooterNeo2.set(-speed);
}

`setShooterRPM(double input)`

Sets the RPM for both shooter motors using the PID controller. If the input RPM exceeds the defined maximum RPM (ShooterConstants.maxRPM), the method logs a warning message:

public void setShooterRPM(double input) {
    if (input < ShooterConstants.maxRPM) {
        m_pidController1.setReference(input, ControlType.kVelocity);
        m_pidController2.setReference(-input, ControlType.kVelocity);
    } else {
        System.out.println("Shooter Motor Warning - Cannot Set Motor RPM Over Limit Of "
                + ShooterConstants.maxRPM);
    }
}

This ensures that the shooter motors do not exceed the maximum RPM limit and maintains accurate velocity control.

Motor Modes

`setBrakeMode(IdleMode mode)`

This method allows switching between brake and coast modes for the motors:

public void setBrakeMode(IdleMode mode) {
    shooterNeo1.setIdleMode(mode);
    shooterNeo2.setIdleMode(mode);
}

Brake Mode: Stops the motors immediately when power is cut, ensuring no continued motion.
Coast Mode: Allows the motors to gradually slow down when power is cut, useful for smoother stopping in some cases.

`coast()`

Stops both shooter motors by setting their speed to zero:

public void coast() {
    shooterNeo1.set(0);
    shooterNeo2.set(0);
}

Telemetry

The subsystem uses SmartDashboard to display telemetry data for monitoring shooter performance:

// SmartDashboard.putNumber("shooter// Shooter Bottom RPM", shooterNeo2.getEncoder().getVelocity());
// SmartDashboard.putNumber("shooter// Shooter Top RPM", shooterNeo1.getEncoder().getVelocity());
// SmartDashboard.putNumber("shooter//Shooter Voltage", shooterNeo1.getBusVoltage());

Telemetry includes:

Shooter RPM: Displays the current velocity of both motors.
Shooter Voltage: Displays the voltage supplied to the motors.

Periodic Functions

`periodic()`

This method runs every scheduler cycle and can be used to update telemetry data:

@Override
public void periodic() {
    // This method will be called once per scheduler run
}

`simulationPeriodic()`

This method is used during simulations:

@Override
public void simulationPeriodic() {
    // This method will be called once per scheduler run during simulation
}

Future Enhancements

Implement more advanced control algorithms to dynamically adjust RPM based on game conditions.
Further tune the PID coefficients for enhanced performance during high-speed shooting.
Add more telemetry data to monitor motor temperature and other important metrics during competition.


This documentation provides a structured overview of the Shooter subsystem, including details on motor control, PID settings, telemetry, and motor modes. It also suggests future improvements to enhance performance.

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