Team4388/2026KPopRobotHunters
1
0
Fork 0
mirror of https://github.com/Team4388/2026KPopRobotHunters.git synced 2026-06-09 00:38:03 -06:00
Code Issues Packages Projects Releases Wiki Activity

VIsion and Roller

Browse Source 
vision constants and implementation
roller percent output
operator controls update
This commit is contained in:
Michael Mikovsky
2026-02-17 18:53:26 -08:00
parent 7ec022bc7a
commit 3a5057fc41
11 changed files with 69 additions and 87 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/subsystems/shooter/ShooterReal.java
+2 -8
View File
@@ -13,7 +13,7 @@ public class ShooterReal implements ShooterIO {
VelocityDutyCycle shooter1Velocity = new VelocityDutyCycle(0);
VelocityDutyCycle shooter2Velocity = new VelocityDutyCycle(0);
VelocityDutyCycle m_indexerVelocity = new VelocityDutyCycle(0);
// VelocityDutyCycle m_indexerVelocity = new VelocityDutyCycle(0);
public ShooterReal(
@@ -27,7 +27,6 @@ public class ShooterReal implements ShooterIO {
m_shooter1Motor.getConfigurator().apply(ShooterConstants.SHOOTER_PID);
m_shooter2Motor.getConfigurator().apply(ShooterConstants.SHOOTER_PID);
m_indexerMotor.getConfigurator().apply(ShooterConstants.SHOOTER_PID);
m_shooter1Motor.getConfigurator().apply(ShooterConstants.SHOOTER1_MOTOR_CONFIG);
m_shooter2Motor.getConfigurator().apply(ShooterConstants.SHOOTER2_MOTOR_CONFIG);
@@ -35,7 +34,7 @@ public class ShooterReal implements ShooterIO {
shooter1Velocity.Slot = 0;
shooter2Velocity.Slot = 0;
m_indexerVelocity.Slot = 0;
// m_indexerVelocity.Slot = 0;
}
@Override
@@ -95,11 +94,6 @@ public class ShooterReal implements ShooterIO {
ShooterConstants.SHOOTER_PID.kD = ShooterConstants.shooter_kD.get();
m_shooter1Motor.getConfigurator().apply(ShooterConstants.SHOOTER_PID);
m_shooter2Motor.getConfigurator().apply(ShooterConstants.SHOOTER_PID);
ShooterConstants.INDEXER_PID.kP = ShooterConstants.indexer_kP.get();
ShooterConstants.INDEXER_PID.kI = ShooterConstants.indexer_kI.get();
ShooterConstants.INDEXER_PID.kD = ShooterConstants.indexer_kD.get();
m_indexerMotor.getConfigurator().apply(ShooterConstants.INDEXER_PID);
}
}