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incorporating indexer waiting for shooter speed

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Shikhar
2026-02-16 17:35:41 -07:00
parent 41b08ca6be
commit 6e5bb74bf0
1 changed files with 5 additions and 1 deletions
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src/main/java/frc4388/robot/subsystems/shooter/Shooter.java
+5 -1
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@@ -152,7 +152,11 @@ public class Shooter extends SubsystemBase {
switch (mode) {
case Shooting:
io.setShooterVelocity(state, RotationsPerSecond.of(ShooterConstants.SHOOTER_ACTIVE_VELOCITY.get()));
io.setIndexerVelocity(state, RotationsPerSecond.of(ShooterConstants.INDEXER_FORWARD_VELOCITY.get()));
if(state.motor1Velocity.in(RotationsPerSecond) > 30){
io.setIndexerVelocity(state, RotationsPerSecond.of(ShooterConstants.INDEXER_FORWARD_VELOCITY.get()));
}else{
io.setIndexerVelocity(state, RotationsPerSecond.of(ShooterConstants.INDEXER_REVERSE_VELOCITY.get()));
}
break;
case Ready:
io.setShooterVelocity(state, RotationsPerSecond.of(ShooterConstants.SHOOTER_ACTIVE_VELOCITY.get()));