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fixed a few bugs

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This commit is contained in:
Pushkar9236
2022-01-25 19:56:18 -07:00
parent f9142d40d8
commit 9ab312f84a
2 changed files with 8 additions and 5 deletions
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src/main/java/frc4388/robot/subsystems/BoomBoom.java
+4 -2
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@@ -4,6 +4,8 @@
package frc4388.robot.subsystems;
import java.util.Base64.Encoder;
import com.ctre.phoenix.motorcontrol.NeutralMode;
import com.ctre.phoenix.motorcontrol.TalonFXControlMode;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
@@ -30,7 +32,7 @@ double input;
public boolean m_isDrumReady = false;
public double m_fireVel;
public Trims shooterTrims;
public Hood m_hoodSubsystem;
public Turret m_turretSubsystem;
@@ -126,7 +128,7 @@ 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(Encoder.getRate(), targetVel) + 0.9 * feedforward.calculate(targetVel);
}