From 6369870590e39874395d2a4f3aec856b74895821 Mon Sep 17 00:00:00 2001
From: Pushkar9236 <104144@psdschools.org>
Date: Fri, 28 Jan 2022 17:05:28 -0700
Subject: [PATCH 1/2] fixed fedforward bug, or at least it looks like it

---
 src/main/java/frc4388/robot/subsystems/BoomBoom.java | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/src/main/java/frc4388/robot/subsystems/BoomBoom.java b/src/main/java/frc4388/robot/subsystems/BoomBoom.java
index 531ffb3..6b745da 100644
--- a/src/main/java/frc4388/robot/subsystems/BoomBoom.java
+++ b/src/main/java/frc4388/robot/subsystems/BoomBoom.java
@@ -12,11 +12,13 @@ import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
 
 import edu.wpi.first.wpilibj.smartdashboard.*;
 import edu.wpi.first.math.controller.BangBangController;
+import edu.wpi.first.math.controller.SimpleMotorFeedforward;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc4388.robot.Constants.ShooterConstants;
 import frc4388.utility.ShooterTables;
 import frc4388.utility.Gains;
 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);
@@ -35,6 +37,12 @@ public double m_fireVel;
 public Hood m_hoodSubsystem;
 public Turret m_turretSubsystem;
 
+
+
+SimpleMotorFeedforward feedforward = new SimpleMotorFeedforward(69, 42, 0); //get real values later
+
+
+
 /*
 * Creates new BoomBoom subsystem, has drum shooter and angle adjuster
 */
@@ -42,6 +50,9 @@ public BoomBoom(){
 //Testing purposes resetting gyros
 //resetGryoAngleADj();
 //shooterTrims = new Trims(0,0);
+feedforward.calculate(15, 20); // feedforward.calculate(velocity, acceleration);
+
+
 }
   /** Creates a new BoomBoom. */
   public BoomBoom(WPI_TalonFX shooterFalconLeft, WPI_TalonFX shooterFalconRight) {
@@ -60,6 +71,7 @@ public BoomBoom(){
       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);

From d2694e2b61dc1b692107f1f0d9e49049cc9a1879 Mon Sep 17 00:00:00 2001
From: Pushkar9236 <104144@psdschools.org>
Date: Fri, 28 Jan 2022 17:08:13 -0700
Subject: [PATCH 2/2] haw

---
 src/main/java/frc4388/robot/subsystems/BoomBoom.java | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/main/java/frc4388/robot/subsystems/BoomBoom.java b/src/main/java/frc4388/robot/subsystems/BoomBoom.java
index 6b745da..f2809c2 100644
--- a/src/main/java/frc4388/robot/subsystems/BoomBoom.java
+++ b/src/main/java/frc4388/robot/subsystems/BoomBoom.java
@@ -19,6 +19,7 @@ import frc4388.utility.ShooterTables;
 import frc4388.utility.Gains;
 import frc4388.utility.controller.IHandController;
 import com.revrobotics.RelativeEncoder;
+import com.revrobotics.*;
 
 public class BoomBoom extends SubsystemBase {
 public WPI_TalonFX m_shooterFalconLeft = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_BALLER_ID);