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

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This commit is contained in:
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/subsystems/BoomBoom.java
+4 -26
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@@ -22,8 +22,8 @@ import frc4388.utility.controller.IHandController;
import com.revrobotics.RelativeEncoder;
public class BoomBoom extends SubsystemBase {
public WPI_TalonFX m_shooterFalconLeft = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_BALLER_ID);
public WPI_TalonFX m_shooterFalconRight= new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_BALLER_FOLLOWER_ID);
public WPI_TalonFX m_shooterFalconLeft;
public WPI_TalonFX m_shooterFalconRight;
public ShooterTables m_shooterTable;
public static Gains m_drumShooterGains = ShooterConstants.DRUM_SHOOTER_GAINS;
public static BoomBoom m_boomBoom;
@@ -59,31 +59,9 @@ feedforward.calculate(15, 20); // feedforward.calculate(velocity, acceleration);
m_shooterFalconLeft = shooterFalconLeft;
m_shooterFalconRight = shooterFalconRight;
int closedLoopTimeMs = 1;
//LEFT FALCON
m_shooterFalconLeft.configFactoryDefault();
m_shooterFalconLeft.setNeutralMode(NeutralMode.Coast);
m_shooterFalconLeft.setInverted(true);
m_shooterFalconLeft.configOpenloopRamp(1, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalconLeft.configClosedloopRamp(0.75, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalconLeft.configPeakOutputReverse(0, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalconLeft.setSelectedSensorPosition(0, ShooterConstants.SHOOTER_PID_LOOP_IDX, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalconLeft.configClosedLoopPeriod(0, closedLoopTimeMs, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalconLeft.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG, ShooterConstants.SHOOTER_TIMEOUT_MS);
//RIGHT FALCON
m_shooterFalconRight.configFactoryDefault();
m_shooterFalconRight.setNeutralMode(NeutralMode.Coast);
m_shooterFalconRight.setInverted(false);
m_shooterFalconRight.configOpenloopRamp(1, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalconRight.configClosedloopRamp(0.75, ShooterConstants.SHOOTER_TIMEOUT_MS);
//m_shooterFalconRight.configPeakOutputForward(0, ShooterConstants.SHOOTER_TIMEOUT_MS);(comment it in if necessary)
m_shooterFalconRight.setSelectedSensorPosition(0, ShooterConstants.SHOOTER_PID_LOOP_IDX, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalconRight.configClosedLoopPeriod(0, closedLoopTimeMs, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalconRight.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterTable = new ShooterTables();
@@ -117,7 +95,7 @@ try {
public void runDrumShooter(double speed) {
m_shooterFalconLeft.set(TalonFXControlMode.PercentOutput, speed);
m_shooterFalconRight.follow(m_shooterFalconLeft);
}
public void setShooterGains() {