Track target working

src/main/java/frc4388/robot/subsystems/BoomBoom.java

@@ -217,7 +217,7 @@ public class BoomBoom extends SubsystemBase {
 
   public void runDrumShooterVelocityPID(double targetVel) {
     SmartDashboard.putNumber("Target Drum Velocity", 10000 + pidOffset);
-    m_shooterFalconLeft.set(TalonFXControlMode.Velocity, targetVel + pidOffset); // Init
+    m_shooterFalconLeft.set(TalonFXControlMode.Velocity, targetVel); // Init
     
     // New BoomBoom controller stuff
     // Controls a motor with the output of the BangBang controller

src/main/java/frc4388/robot/subsystems/VisionOdometry.java

@@ -59,6 +59,8 @@ public class VisionOdometry extends SubsystemBase {
   public ArrayList<Point> getTargetPoints() throws VisionObscuredException {
     PhotonPipelineResult result = m_camera.getLatestResult();
     latency = result.getLatencyMillis();
+
+    System.out.println("Result: " + result.hasTargets() + ", latency: " + latency);
   
     if(!result.hasTargets())
       throw new VisionObscuredException();