Team4388/2024AcrossTheRidgebotiverse
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Lots of bs (im geekin)

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Abhishrek05
2024-02-16 21:49:50 -07:00
parent 2825af3cde
commit 890a3de02a
11 changed files with 135 additions and 229 deletions
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src/main/java/frc4388/robot/subsystems/Shooter.java
+23 -4
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@@ -5,6 +5,7 @@
package frc4388.robot.subsystems;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.motorcontrol.Talon;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants.ShooterConstants;
@@ -29,13 +30,31 @@ public class Shooter extends SubsystemBase {
rightShooter.setNeutralMode(NeutralModeValue.Coast);
}
public Shooter(TalonFX leftShooter) {
this.leftShooter = leftShooter;
leftShooter.setNeutralMode(NeutralModeValue.Coast);
}
public void singleSpin() {
leftShooter.set(1.0);
}
public void singleSpin(double speed) {
leftShooter.set(speed);
}
public void spin() {
spin(ShooterConstants.SHOOTER_SPEED);
}
public void spin(double speed) {
leftShooter.set(-speed);
rightShooter.set(speed);
leftShooter.set(speed);
rightShooter.set(-speed);
}
public void spin(double leftSpeed, double rightSpeed) {
leftShooter.set(leftSpeed);
rightShooter.set(-rightSpeed);
}
public void stop() {
@@ -49,8 +68,8 @@ public class Shooter extends SubsystemBase {
@Override
public void periodic() {
// This method will be called once per scheduler run
SmartDashboard.putNumber("Left Shooter RPM", leftShooter.getRotorVelocity().getValue());
SmartDashboard.putNumber("Right Shooter RPM", rightShooter.getRotorVelocity().getValue());
// SmartDashboard.putNumber("Left Shooter RPM", leftShooter.getRotorVelocity().getValue());
//SmartDashboard.putNumber("Right Shooter RPM", rightShooter.getRotorVelocity().getValue());
}
}