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

Get IDK to work

Browse Source
This commit is contained in:
Michael Mikovsky
2026-02-09 18:38:55 -08:00
parent 51d2b80ea0
commit 6ce6d0eb0b
5 changed files with 48 additions and 40 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/subsystems/shooter/Shooter.java
+3 -9
View File
@@ -1,18 +1,11 @@
package frc4388.robot.subsystems.shooter;
import static edu.wpi.first.units.Units.Rotation;
import static edu.wpi.first.units.Units.Rotations;
import static edu.wpi.first.units.Units.RotationsPerSecond;
import java.util.function.Supplier;
import org.littletonrobotics.junction.Logger;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.units.measure.Angle;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.subsystems.intake.IntakeConstants;
import frc4388.robot.subsystems.shooter.ShooterIO.ShooterState;
public class Shooter extends SubsystemBase {
public ShooterIO io;
@@ -47,6 +40,7 @@ public class Shooter extends SubsystemBase {
Inactive,
}
public void setMode(ShooterMode mode) {
switch (mode) {
case Active:
@@ -57,12 +51,12 @@ public class Shooter extends SubsystemBase {
case Resting:
io.setShooterVelocity(state, RotationsPerSecond.of(ShooterConstants.SHOOTER_RESTING_VELOCITY.get()));
// io.setMotor2Velocity(state, ShooterConstants.SHOOTER_RESTING_VELOCITY);
io.setIndexerVelocity(state, RotationsPerSecond.of(ShooterConstants.INDEXER_INACTIVE_VELOCITY.get()));
io.setIndexerVelocity(state, RotationsPerSecond.of(0));
break;
case Inactive:
io.setShooterVelocity(state, RotationsPerSecond.of(ShooterConstants.SHOOTER_RESTING_VELOCITY.get()));
// io.setMotor2Velocity(state, ShooterConstants.SHOOTER_RESTING_VELOCITY);
io.setIndexerVelocity(state, RotationsPerSecond.of(ShooterConstants.INDEXER_INACTIVE_VELOCITY.get()));
io.setIndexerVelocity(state, RotationsPerSecond.of(0));
break;
}
}