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debugged things

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This commit is contained in:
Abhishrek05
2022-01-25 18:57:28 -07:00
parent 1d804903d8
commit 93a72b6b87
3 changed files with 76 additions and 4 deletions
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src/main/java/frc4388/robot/subsystems/BoomBoom.java
+2 -2
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@@ -8,7 +8,7 @@ import com.ctre.phoenix.motorcontrol.NeutralMode;
import com.ctre.phoenix.motorcontrol.TalonFXControlMode;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import edu.wpi.first.wpilibj.SmartDashboard.SmartDashboard;
import edu.wpi.first.wpilibj.smartdashboard.*;
import edu.wpi.first.math.controller.BangBangController;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants.ShooterConstants;
@@ -121,7 +121,7 @@ public void setShooterGains() {
public void runDrumShooterVelocityPID(double targetVel) {
m_shooterFalconLeft.set(TalonFXControlMode.Velocity, targetVel); //Init
m_shooterFalconRight.follow(m_shooterFalconLeft);
* // New BoomBoom controller stuff
// New BoomBoom controller stuff
BangBangController controller = new BangBangController();
//Controls a motor with the output of the BangBang controller
//Controls a motor with the output of the BangBang conroller and a feedforward
src/main/java/frc4388/robot/subsystems/Hood.java
+1 -2
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@@ -3,7 +3,6 @@
// the WPILib BSD license file in the root directory of this project.
package frc4388.robot.subsystems;
import com.revrobotics.CANDigitalInput;
import com.revrobotics.CANEncoder;
import com.revrobotics.CANPIDController;
import com.revrobotics.CANSparkMax;
@@ -19,7 +18,7 @@ import frc4388.robot.Constants.ShooterConstants;
import frc4388.utility.Gains;
public class Hood extends SubsystemBase {
public Shooter m_shooterSubsystem;
public BoomBoom m_shooterSubsystem;
public CANSparkMax m_angleAdjustMotor = new CANSparkMax(ShooterConstants.SHOOTER_ANGLE_ADJUST_ID, MotorType.kBrushless);