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Merge remote-tracking branch 'origin/reveal-night' into shikhar-op-controls

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This commit is contained in:
Michael Mikovsky
2026-02-25 16:40:09 -08:00
parent 0009dfeb46 835d8779b0
commit 2ed8cbb8cb
6 changed files with 30 additions and 24 deletions
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src/main/java/frc4388/robot/subsystems/shooter/ShooterReal.java
+15 -15
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@@ -61,26 +61,26 @@ public class ShooterReal implements ShooterIO {
@Override
public void setShooterCurrentLimitSpeed(
ShooterState state,
double percentOutput,
Current currentLimit,
AngularVelocity targetVelocity
double percentOutput
// Current currentLimit,
// AngularVelocity targetVelocity
) {
state.motor1TargetVelocity = targetVelocity;
state.motor2TargetVelocity = targetVelocity;
// state.motor1TargetVelocity = targetVelocity;
// state.motor2TargetVelocity = targetVelocity;
double current = Math.abs(state.motor1Current.in(Amps)) + Math.abs(state.motor2Current.in(Amps));
double velocity = (Math.abs(state.motor1Velocity.in(RotationsPerSecond)) + Math.abs(state.motor2Velocity.in(RotationsPerSecond))) / 2;
// double current = Math.abs(state.motor1Current.in(Amps)) + Math.abs(state.motor2Current.in(Amps));
// double velocity = (Math.abs(state.motor1Velocity.in(RotationsPerSecond)) + Math.abs(state.motor2Velocity.in(RotationsPerSecond))) / 2;
if(
Math.abs(currentLimit.in(Amps)) > current &&
Math.abs(targetVelocity.in(RotationsPerSecond)) > velocity
) {
// if(
// Math.abs(currentLimit.in(Amps)) > current &&
// Math.abs(targetVelocity.in(RotationsPerSecond)) > velocity
// ) {
m_shooter1Motor.set(percentOutput);
m_shooter2Motor.set(percentOutput);
} else {
m_shooter1Motor.set(0);
m_shooter2Motor.set(0);
}
// } else {
// m_shooter1Motor.set(0);
// m_shooter2Motor.set(0);
// }
}
@Override