Stage 9: Closed-Loop Flywheel Velocity

Apply encoder feedback in Launcher.java. setPower() is still useful for many mechanisms, but a flywheel needs a measured velocity target that stays consistent as conditions change.

Your Task

1. Change the flywheel to DcMotorEx and map it with the exact configured launcher name.
2. Select RUN_USING_ENCODER and set reasonable velocity PIDF coefficients.
3. Scale the right trigger into a target velocity and call setVelocity().
4. Read getVelocity() and report both target and measured values through telemetry.

Make the conversion readable enough that a teammate can change wheel size without rewriting the routine.

The simulator's small battery readout starts at 13.0 V and drains only while the OpMode is running. Compare an open-loop setPower() launcher with setVelocity(): the measured open-loop speed will fall with voltage, while a reachable velocity target should remain steady. If that loss continues long enough, the normal code-hint area will explain what the motor command is doing.

Coding Challenge Simulator

Telemark Unit 10 Comprehensive Coding Challenge

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