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Merge branch 'Shooter' of https://github.com/Team4388/2022NoWayHome into Shooter

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Abhishrek05
2022-01-28 19:09:11 -07:00
parent 549641f7e8 2d9cd7abe6
commit b0c6881af1
1 changed files with 5 additions and 0 deletions
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src/main/java/frc4388/robot/subsystems/BoomBoom.java
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@@ -17,6 +17,7 @@ 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);
@@ -63,6 +64,7 @@ public BoomBoom(){
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
m_shooterFalconRight.configFactoryDefault();
@@ -134,5 +136,8 @@ public void setShooterGains() {
// m_shooterFalconLeft.set(controller.calculate(encoder.getRate(), targetVel) + 0.9 * feedforward.calculate(targetVel));
m_shooterFalconLeft.set(m_controller.calculate(m_shooterFalconLeft.get(), targetVel));
System.err.println(targetVel);
m_shooterFalconLeft.set(controller.calculate(m_shooterFalconLeft.getSelectedSensorVelocity(), targetVel) + 0.9 * feedforward.calculate(targetVel));
}
}