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Update BoomBoom.java

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This commit is contained in:
Abhishrek05
2022-01-28 19:21:34 -07:00
parent 4a30390305
commit efab5da238
1 changed files with 1 additions and 2 deletions
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src/main/java/frc4388/robot/subsystems/BoomBoom.java
+1 -2
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@@ -40,7 +40,6 @@ public Turret m_turretSubsystem;
/* /*
* Creates new BoomBoom subsystem, has drum shooter and angle adjuster * Creates new BoomBoom subsystem, has drum shooter and angle adjuster
*/ */
@@ -134,7 +133,7 @@ public void setShooterGains() {
m_shooterFalconLeft.set(controller.calculate(Encoder.getRate(), targetVel) + 0.9 * feedforward.calculate(targetVel)); m_shooterFalconLeft.set(controller.calculate(Encoder.getRate(), targetVel) + 0.9 * feedforward.calculate(targetVel));
// m_shooterFalconLeft.set(controller.calculate(encoder.getRate(), targetVel) + 0.9 * feedforward.calculate(targetVel)); // m_shooterFalconLeft.set(controller.calculate(encoder.getRate(), targetVel) + 0.9 * feedforward.calculate(targetVel));
m_shooterFalconLeft.set(m_controller.calculate(m_shooterFalconLeft.get(), targetVel)); m_shooterFalconLeft.set(controller.calculate(m_shooterFalconLeft.get(), targetVel));
System.err.println(targetVel); System.err.println(targetVel);
m_shooterFalconLeft.set(controller.calculate(m_shooterFalconLeft.getSelectedSensorVelocity(), targetVel) + 0.9 * feedforward.calculate(targetVel)); m_shooterFalconLeft.set(controller.calculate(m_shooterFalconLeft.getSelectedSensorVelocity(), targetVel) + 0.9 * feedforward.calculate(targetVel));