Package frc.robot.subsystems.turret.config

Class TurretSubsystemConfig

java.lang.Object
frc.robot.shared.config.AbstractConfig
frc.robot.shared.config.AbstractSubsystemConfig
frc.robot.shared.config.AbstractMotorSubsystemConfig
frc.robot.shared.config.AbstractSetAndSeekSubsystemConfig
frc.robot.subsystems.turret.config.TurretSubsystemConfig
public class TurretSubsystemConfig extends AbstractSetAndSeekSubsystemConfig
Configuration bundle for the turret mechanism. Values are stored in degrees for readability but converted to radians at runtime where needed.

  • Field Details

    • componentPoseConfig

      public AbstractConfig.ComponentPoseConfig componentPoseConfig
      3D pivot offset for AdvantageScope component visualization.

    • fieldTargets

      public FieldTargetConfig fieldTargets
      Field target positions and zone boundaries for zone-aware turret tracking.

    • turretZeroOffsetDegrees

      public double turretZeroOffsetDegrees
      Zero offset between the turret's mechanical zero and robot-forward in degrees.

      A value of 180 means the turret faces the rear of the robot when at its mechanical zero position.

    • onTargetPositionToleranceDegrees

      public double onTargetPositionToleranceDegrees
      Position error threshold for the on-target readiness check, in degrees.

      This is typically wider than the profile's position tolerance and ignores velocity, so the turret can report "ready to shoot" while the profile is still making fine corrections.

    • rotationalLeadTimeSeconds

      public double rotationalLeadTimeSeconds
      Look-ahead time for rotational velocity compensation in seconds.

      When the robot is spinning, the turret can lead its aim by this many seconds of predicted heading change to stay on target. Set to zero to disable compensation.

    • sotmEnabled

      public boolean sotmEnabled
      Enables or disables the shoot-on-the-move translational compensation.

      When enabled, the turret aims at a virtual target that accounts for ball drift during flight due to robot velocity. Disable this at competition if the solver misbehaves.

    • sotmDragCoefficient

      public double sotmDragCoefficient
      Aerodynamic drag coefficient applied to the ball's inherited robot velocity during flight.

      A typical smooth sphere has a drag coefficient around 0.47. Higher values cause the ball's inherited velocity to decay faster, reducing the SOTM aim correction. Set to 0 to assume no drag (ball keeps full inherited velocity).

    • sotmMinSpeedMetersPerSecond

      public double sotmMinSpeedMetersPerSecond
      Robot speed below which SOTM is disabled and the turret aims straight at the target.

      At very low speeds the ball drift is negligible. Setting this too low causes the solver to apply tiny corrections that add noise without improving accuracy.

    • sotmMaxIterations

      public int sotmMaxIterations
      Maximum Newton iterations before falling back to the uncompensated TOF.

    • sotmConvergenceToleranceSeconds

      public double sotmConvergenceToleranceSeconds
      Convergence threshold for the Newton solver in seconds.

  • Constructor Details

    • TurretSubsystemConfig

      public TurretSubsystemConfig()

  • Method Details

    • getTurretZeroOffsetDegrees

      public double getTurretZeroOffsetDegrees()
      Returns the turret zero offset in degrees.

      This offset is subtracted from the robot-relative target angle to convert into turret-relative coordinates. A value of 180 means turret mechanical zero points to the rear of the robot.

      Returns:
      turret zero offset in degrees

    • getOnTargetPositionToleranceDegrees

      public double getOnTargetPositionToleranceDegrees()
      Returns the on-target position tolerance for the turret readiness check.
      Returns:
      tolerance in degrees

    • getRotationalLeadTimeSeconds

      public double getRotationalLeadTimeSeconds()
      Returns the rotational lead time used for yaw-rate compensation.

      The turret multiplies the robot's yaw rate by this value to predict how far the heading will change and pre-rotates accordingly. Tune this higher if the turret lags behind while the robot spins.

      Returns:
      lead time in seconds

    • isSotmEnabled

      public boolean isSotmEnabled()
      Returns whether shoot-on-the-move translational compensation is enabled.
      Returns:
      true when SOTM is active

    • getSotmDragCoefficient

      public double getSotmDragCoefficient()
      Returns the SOTM drag coefficient for inherited ball velocity decay during flight.
      Returns:
      drag coefficient (dimensionless, 0.47 for a smooth sphere)

    • getSotmMinSpeedMetersPerSecond

      public double getSotmMinSpeedMetersPerSecond()
      Returns the minimum robot speed required to activate SOTM compensation.
      Returns:
      speed threshold in meters per second

    • getSotmMaxIterations

      public int getSotmMaxIterations()
      Returns the maximum Newton iterations for the SOTM solver.
      Returns:
      maximum iteration count

    • getSotmConvergenceToleranceSeconds

      public double getSotmConvergenceToleranceSeconds()
      Returns the convergence tolerance for the SOTM Newton solver.
      Returns:
      tolerance in seconds