Team4388/2026KPopRobotHunters
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This commit is contained in:
Shikhar
2026-02-16 18:21:53 -07:00
parent 6e5bb74bf0
commit 7ec022bc7a
4 changed files with 18 additions and 18 deletions
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src/main/java/frc4388/robot/subsystems/shooter/Shooter.java
+3 -7
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@@ -152,19 +152,15 @@ public class Shooter extends SubsystemBase {
switch (mode) {
case Shooting:
io.setShooterVelocity(state, RotationsPerSecond.of(ShooterConstants.SHOOTER_ACTIVE_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()));
}
io.setIndexerOutput(state, ShooterConstants.INDEXER_FORWARD_OUTPUT.get());
break;
case Ready:
io.setShooterVelocity(state, RotationsPerSecond.of(ShooterConstants.SHOOTER_ACTIVE_VELOCITY.get()));
io.setIndexerVelocity(state, RotationsPerSecond.of(ShooterConstants.INDEXER_REVERSE_VELOCITY.get()));
io.setIndexerOutput(state, ShooterConstants.INDEXER_REVERSE_OUTPUT.get());
break;
case NotReady:
io.setShooterVelocity(state, RotationsPerSecond.of(ShooterConstants.SHOOTER_RESTING_VELOCITY.get()));
io.setIndexerVelocity(state, RotationsPerSecond.of(ShooterConstants.INDEXER_REVERSE_VELOCITY.get()));
io.setIndexerOutput(state, ShooterConstants.INDEXER_REVERSE_OUTPUT.get());
break;
}