TargetPackage

What is a target package 🤔, its a class that stores data think of it like a save in a video game except this is for our robot shooter. It stores data like our requested Feedforward gain, Proportional gain (kP), RPM and the desired hood position in motor ticks.

So let's create a package, so the core library has a utility called TargetPackageHelper it's used to create a target package. The Target Package Helper has a create method which takes four parameters FF (Feedforward), kP, RPM, hP (Hood Position), The most common way to determine these parameters is through trial and error.

Here's an example

public class RobotContainer {
   private double ff = 0.1;
   private double kP = 0.4;
   private double rpm = 2300;
   private double hP = 50000;

   TargetPackage defaultPackage = TargetPackageHelper.create(ff, kP, rpm, hP);
}