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DummySensor class, shoot is tested

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aarav18
2022-03-05 11:07:54 -07:00
parent 71e082e7bd
commit f895352bb9
10 changed files with 185 additions and 119 deletions
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src/main/java/frc4388/robot/RobotMap.java
+4 -4
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@@ -136,7 +136,7 @@ public class RobotMap {
public final WPI_TalonFX shooterFalconLeft = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_LEFT_CAN_ID);
public final WPI_TalonFX shooterFalconRight = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_RIGHT_CAN_ID);
// public final CANSparkMax shooterTurret = new CANSparkMax(ShooterConstants.TURRET_MOTOR_CAN_ID, MotorType.kBrushless);
public final CANSparkMax shooterTurret = new CANSparkMax(ShooterConstants.TURRET_MOTOR_CAN_ID, MotorType.kBrushless);
// Create motor CANSparkMax
void configureShooterMotorControllers() {
@@ -163,9 +163,9 @@ public class RobotMap {
shooterFalconRight.configClosedLoopPeriod(0, ShooterConstants.CLOSED_LOOP_TIME_MS, ShooterConstants.SHOOTER_TIMEOUT_MS);
shooterFalconRight.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG, ShooterConstants.SHOOTER_TIMEOUT_MS);
/* Turret Subsytem */
shooterFalconRight.configStatorCurrentLimit(new StatorCurrentLimitConfiguration(true, 6, 9, 4.2)); // TODO: dont pull numbers out of our ass anymore
shooterFalconLeft.configSupplyCurrentLimit(new SupplyCurrentLimitConfiguration(true, 12, 13, 0.4)); // TODO: dont pull numbers out of our ass anymore
// /* Turret Subsytem */
// shooterFalconRight.configStatorCurrentLimit(new StatorCurrentLimitConfiguration(true, 6, 9, 4.2)); // TODO: dont pull numbers out of our ass anymore
// shooterFalconLeft.configSupplyCurrentLimit(new SupplyCurrentLimitConfiguration(true, 12, 13, 0.4)); // TODO: dont pull numbers out of our ass anymore
}