Team4388/2026KPopRobotHunters
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Shikhar
2026-01-29 18:07:19 -07:00
parent 8bda61b983
commit 5d38173168
7 changed files with 76 additions and 14 deletions
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src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java
+11
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@@ -1,6 +1,7 @@
package frc4388.robot.subsystems.shooter;
import static edu.wpi.first.units.Units.Degrees;
import static edu.wpi.first.units.Units.RotationsPerSecond;
import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
import com.ctre.phoenix6.configs.MotorOutputConfigs;
@@ -9,6 +10,7 @@ import com.ctre.phoenix6.configs.TalonFXConfiguration;
import com.ctre.phoenix6.signals.NeutralModeValue;
import edu.wpi.first.units.measure.Angle;
import edu.wpi.first.units.measure.AngularVelocity;
import frc4388.utility.status.CanDevice;
public class ShooterConstants {
@@ -19,6 +21,15 @@ public class ShooterConstants {
public static final double SHOOTERMOTOR2_GEAR_RATIO = 1.;
public static final double INDEXER_GEAR_RATIO = 1.;
public static final AngularVelocity SHOOTER_RESTING_VELOCITY = RotationsPerSecond.of(0.0);
public static final AngularVelocity SHOOTER_ACTIVE_VELOCITY = RotationsPerSecond.of(0.0);
public static final AngularVelocity SHOOTER_INACTIVE_VELOCITY = RotationsPerSecond.of(0.0);
public static final AngularVelocity INDEXER_ACTIVE_VELOCITY = RotationsPerSecond.of(0.0);
public static final AngularVelocity INDEXER_INACTIVE_VELOCITY = RotationsPerSecond.of(0.0);
public static Slot0Configs SHOOTER_PID = new Slot0Configs()
.withKV(0.0)
.withKP(0.0)