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tested RunCommandForTime + DWIForTime in robotsim, both work

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This commit is contained in:
aarav18
2022-03-22 16:56:40 -06:00
parent 8af4535191
commit 81ef2a858a
5 changed files with 32 additions and 22 deletions
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src/main/java/frc4388/robot/subsystems/BoomBoom.java
+6 -6
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@@ -174,9 +174,9 @@ public class BoomBoom extends SubsystemBase {
public void periodic() {
// This method will be called once per scheduler run
// speed2 = SmartDashboard.getNumber("Shooter Offset", 0.0);
SmartDashboard.putNumber("Shooter Current", getCurrent());
SmartDashboard.putNumber("Shooter Voltage", m_shooterFalconLeft.getMotorOutputVoltage());
SmartDashboard.putNumber("Shooter Actual Velocity", m_shooterFalconLeft.getSelectedSensorVelocity());
// SmartDashboard.putNumber("Shooter Current", getCurrent());
// SmartDashboard.putNumber("Shooter Voltage", m_shooterFalconLeft.getMotorOutputVoltage());
// SmartDashboard.putNumber("Shooter Actual Velocity", m_shooterFalconLeft.getSelectedSensorVelocity());
}
public void passRequiredSubsystem(Hood subsystem0, Turret subsystem1) {
@@ -191,9 +191,9 @@ public class BoomBoom extends SubsystemBase {
public void runDrumShooter(double speed) {
// m_shooterFalconLeft.set(TalonFXControlMode.PercentOutput, speed + speed2);
m_shooterFalconLeft.set(speed);
SmartDashboard.putNumber("BoomBoom percent speed", speed + speed2);
SmartDashboard.putNumber("BoomBoom current stator", m_shooterFalconLeft.getStatorCurrent());
SmartDashboard.putNumber("BoomBoom current supply", m_shooterFalconLeft.getSupplyCurrent());
// SmartDashboard.putNumber("BoomBoom percent speed", speed + speed2);
// SmartDashboard.putNumber("BoomBoom current stator", m_shooterFalconLeft.getStatorCurrent());
// SmartDashboard.putNumber("BoomBoom current supply", m_shooterFalconLeft.getSupplyCurrent());
}