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new hood controls

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This commit is contained in:
‮Aarav Shah
2022-02-17 19:38:49 -07:00
parent 0fedb240d7
commit dc93277517
4 changed files with 44 additions and 22 deletions
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src/main/java/frc4388/robot/subsystems/BoomBoom.java
+1 -1
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@@ -114,7 +114,7 @@ public void setShooterGains() {
//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(calculate(encoder.getRate(), targetVel) + 0.9 * feedforward.calculate(targetVel));
m_shooterFalconLeft.set(m_controller.calculate(m_shooterFalconLeft.get(), targetVel));
}
}