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Track target working

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This commit is contained in:
Ryan Manley
2022-03-16 10:32:15 -06:00
parent b346fcbec5
commit ca4d87977a
7 changed files with 25 additions and 12 deletions
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src/main/java/frc4388/robot/subsystems/BoomBoom.java
+1 -1
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@@ -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