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current limits

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This commit is contained in:
Ryan Manley
2022-03-12 11:36:10 -07:00
parent e237f14537
commit 03485c1063
14 changed files with 77 additions and 7 deletions
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src/main/java/frc4388/robot/subsystems/BoomBoom.java
+6
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@@ -180,6 +180,8 @@ public class BoomBoom extends SubsystemBase {
public void runDrumShooter(double speed) {
m_shooterFalconLeft.set(TalonFXControlMode.PercentOutput, speed + speed2);
SmartDashboard.putNumber("BoomBoom percent speed", speed + speed2);
SmartDashboard.putNumber("BoomBoom current stator", m_shooterFalconLeft.getStatorCurrent());
SmartDashboard.putNumber("BoomBoom current supply", m_shooterFalconLeft.getSupplyCurrent());
}
@@ -208,4 +210,8 @@ public class BoomBoom extends SubsystemBase {
{
speed2 = speed2 + amount;
}
public double getCurrent(){
return m_shooterFalconLeft.getSupplyCurrent() + m_shooterFalconRight.getSupplyCurrent();
}
}