Power conservation: current limits, compressor inhibit, flywheel gating#180
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nlaverdure wants to merge 5 commits intomainfrom
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Power conservation: current limits, compressor inhibit, flywheel gating#180nlaverdure wants to merge 5 commits intomainfrom
nlaverdure wants to merge 5 commits intomainfrom
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Addresses VACHE analysis findings (doc/VACHE_POWER_ANALYSIS.md): - Spindexer + Kicker: add secondaryCurrentLimit(80A) as a hard cap. The existing smartCurrentLimit(60A) is velocity-dependent and does not prevent transient stalls; four 149A stall events across Q54/Q13 were the direct cause of the worst voltage dips at VACHE. - Intake rollers: stator limit reduced 100A → 60A. Observed VACHE peaks were 56A; this matches the operating envelope with no performance impact. - Flywheel: stator limit reduced 100A → 60A per motor. Observed spin-up peaks touched 60A; capping at the observed ceiling avoids excess headroom contributing to battery sag. Drive motor limits unchanged per analysis recommendation. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Wraps the spin-forward command (all three trigger sites — operator A, driver A, and right bumper desaturate-and-shoot) with compressor::disable before start and compressor::enableDigital on end. The compressor was present and adding 6-20A at every major voltage dip in the VACHE analysis; in Q54 it ramped to 19.6A at the exact worst moment (6.67V). The 70in³ storage tank provides 30+ seconds of reserve, so brief inhibits during shot cycles have no operational impact. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
…speed shot gate - Launcher.aim() takes policyEnabled; flywheel off when policy false and force-enable not active - Turret falls back to nominal aim direction when flywheel is off/spinning up (<0.5 m/s ballistic) - flywheelForceEnabled / isFlywheelAtSpeed() gate the feeder: spin up before advancing - hoodInitialized flag prevents isFlywheelAtSpeed() returning true during hood initialization - kAtSpeedToleranceFraction = 0.05 (validated against VACHE logs: steady-state error 1-3%) - Separate createAutoLauncherDefault() (always policyEnabled=true) and createTeleopLauncherDefault() (flywheelPolicy && isMyHubActive && isInMyAllianceZone); set at mode transitions, not constructor - flywheelPolicy BooleanSupplier: defaults to always-true; Zorro driver overrides with dial gate (FMS bypass: dial ignored when FMS attached) - GameState: add getMyHub(), isInMyAllianceZone() - Remove dead Zorro launcher trigger (was scheduling the default command as whileTrue) - shootWithCompressorInhibit: sequence force-enable → waitUntil(atSpeed) → feeder Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Makes LoggedCompressor a SubsystemBase so the command scheduler owns compressor state. Default command applies 150A/100A hysteresis against PDH total current; shot commands interrupt it via deadlineWith. Adds PowerConstants (inhibit/resume thresholds, electronics overhead) to Constants.java. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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Summary
kAtSpeedToleranceFraction, validated 1–3% steady-state error at VACHE);hoodInitializedflag prevents spurious at-speed reads during the 1-second hood initialization strokecreateAutoLauncherDefault()(always aims hub, flywheel always on) andcreateTeleopLauncherDefault()(position-dependent target, full policy gating); installed at mode transitionsTest plan
GameState/IsMyHubActive,RealOutputs/Launcher/FlywheelAtSpeed)🤖 Generated with Claude Code