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BoomBoom is working, but the motors are spinning in opposite directions

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aarav18
2022-02-09 17:56:22 -07:00
parent 3e43b50f04
commit 0fedb240d7
4 changed files with 40 additions and 33 deletions
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src/main/java/frc4388/robot/Constants.java
+5 -3
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@@ -88,12 +88,13 @@ public final class Constants {
public static final class ShooterConstants {
/* PID Constants Shooter */
public static final int SHOOTER_TIMEOUT_MS = 30;
public static final int CLOSED_LOOP_TIME_MS = 1;
public static final int SHOOTER_TIMEOUT_MS = 32;
public static final int SHOOTER_SLOT_IDX = 0;
public static final int SHOOTER_PID_LOOP_IDX = 1;
public static final SupplyCurrentLimitConfiguration SUPPLY_CURRENT_LIMIT_CONFIG = new SupplyCurrentLimitConfiguration(true, 60, 40, 0.5);
public static final int SHOOTER_FALCON_LEFT_CAN_ID = 0;
public static final int SHOOTER_FALCON_RIGHT_CAN_ID = 0;
public static final int SHOOTER_FALCON_LEFT_CAN_ID = 23;
public static final int SHOOTER_FALCON_RIGHT_CAN_ID = 24;
public static final int SHOOTER_ROTATE_ID = 31; //"unknown value" //figure out later
public static final int TURRET_RIGHT_SOFT_LIMIT = 0; //""//
public static final double TURRET_SPEED_MULTIPLIER = 0.1d; //""//
@@ -102,6 +103,7 @@ public final class Constants {
public static final int TURRET_MOTOR_ROTS_PER_ROT = 0; //""//
public static final double ENCODER_TICKS_PER_REV = 2048; //""//
/* Turret Constants */
//ID