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the encoder was fixed

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This commit is contained in:
Pushkar9236
2022-01-28 17:20:58 -07:00
parent d2694e2b61
commit 71a6afd240
1 changed files with 3 additions and 3 deletions
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src/main/java/frc4388/robot/subsystems/BoomBoom.java
+3 -3
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@@ -19,7 +19,6 @@ 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);
@@ -71,6 +70,7 @@ feedforward.calculate(15, 20); // feedforward.calculate(velocity, acceleration);
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
@@ -139,8 +139,8 @@ public void setShooterGains() {
//Controls a motor with the output of the BangBang controller
//Controls a motor with the output of the BangBang conroller and a feedforward
//Shrinks the feedforward slightly to avoid over speeding the shooter
m_shooterFalconLeft.set(controller.calculate(encoder.getRate(), targetVel) + 0.9 * feedforward.calculate(targetVel));
m_shooterFalconLeft.set(controller.calculate(m_shooterFalconLeft.getSelectedSensorVelocity(), targetVel) + 0.9 * feedforward.calculate(targetVel));
}
}