Shooter

The shooter subsystem is for a single flywheel shooter. It can be used to spin up, hold at a position and respond to manual commands.

To create and schedule a shooter behaviour, you can use the following code:

wom::Shooter *shooter = new wom::Shooter("shooter path (in nt tables)", config); // config is a ShooterConfig

Parameters

Type	Name	Description	See Also
`std::string`	`path`	The path to the shooter in the NT tables
`wom::ShooterConfig`	`config`	The configuration for the shooter

Type	Name	Description	See Also
`wom::Gearbox`	`gearbox`	The gearbox for the shooter
`wom::PIDConfig<units::radians_per_second, units::volt>`	`pid`	The PID configuration for the shooter	PID Config
`units::ampere_t`	`currentLimit`	The current limit for the shooter

wom::ShooterState is an enum of states for the shooter.

Sets the shooter to manual mode.

void SetManual(units::volt_t voltage);

shooter->SetManual(12_V);

Sets the shooter to PID mode.

void SetPID(units::radians_per_second_t goal);

shooter->SetPID(100_rad_per_s);

Sets the state of the shooter.

void SetState(wom::ShooterState state);

See States for the possible states.

shooter->SetState(wom::ShooterState::kPID);

Returns whether the shooter is stable.

bool IsStable();

bool stable = shooter->IsStable();

The shooter constant behaviour is used to hold the shooter at a constant speed.

wom::ShooterConstant(wom::Shooter* s, units::volt_t setpoint)

Type	Name	Description	See Also
`wom::Shooter*`	`s`	The shooter to use	Shooter
`units::volt_t`	`setpoint`	The setpoint for the shooter

The shooter spinup behaviour is used to spin up the shooter to a certain speed.

wom::ShooterSpinup(wom::Shooter* s, units::radians_per_second_t speed, bool hold = false)

Type	Name	Description	See Also
`wom::Shooter*`	`s`	The shooter to use	Shooter
`units::radians_per_second_t`	`speed`	The speed to spin up to
`bool`	`hold`	Whether to hold the shooter at the speed