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Monday Fixes

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This commit is contained in:
Ryan Manley
2022-03-08 16:14:34 -07:00
parent 931c0cbd12
commit dce8ab320c
6 changed files with 90 additions and 61 deletions
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src/main/java/frc4388/robot/subsystems/BoomBoom.java
+10 -2
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@@ -20,6 +20,7 @@ import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import edu.wpi.first.wpilibj.Filesystem;
import edu.wpi.first.wpilibj.RobotBase;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants.ShooterConstants;
import frc4388.utility.CSV;
@@ -31,6 +32,7 @@ public class BoomBoom extends SubsystemBase {
public WPI_TalonFX m_shooterFalconRight;
public static Gains m_drumShooterGains = ShooterConstants.DRUM_SHOOTER_GAINS;
public static BoomBoom m_boomBoom;
double speed2;
double velP;
double input;
@@ -168,14 +170,15 @@ public class BoomBoom extends SubsystemBase {
public void passRequiredSubsystem(Hood subsystem0, Turret subsystem1) {
m_hoodSubsystem = subsystem0;
m_turretSubsystem = subsystem1;
}
}
/**
* Runs the Drum motor at a given speed
* @param speed percent output form -1.0 to 1.0
*/
public void runDrumShooter(double speed) {
m_shooterFalconLeft.set(TalonFXControlMode.PercentOutput, speed);
m_shooterFalconLeft.set(TalonFXControlMode.PercentOutput, speed + speed2);
SmartDashboard.putNumber("BoomBoom percent speed", speed + speed2);
}
@@ -199,4 +202,9 @@ public class BoomBoom extends SubsystemBase {
// feedforward.calculate(targetVel));
// m_shooterFalconLeft.set(m_controller.calculate(m_shooterFalconLeft.get(), targetVel));
}
public void increaseSpeed(double amount)
{
speed2 = speed2 + amount;
}
}