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Fix shooter idle speed.

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This commit is contained in:
Shikhar
2026-02-25 17:34:24 -07:00
parent 3197a3dce0
commit 835d8779b0
5 changed files with 28 additions and 28 deletions
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src/main/java/frc4388/robot/subsystems/shooter/ShooterReal.java
+15 -15
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@@ -61,26 +61,26 @@ public class ShooterReal implements ShooterIO {
@Override
public void setShooterCurrentLimitSpeed(
ShooterState state,
double percentOutput,
Current currentLimit,
AngularVelocity targetVelocity
double percentOutput
// Current currentLimit,
// AngularVelocity targetVelocity
) {
state.motor1TargetVelocity = targetVelocity;
state.motor2TargetVelocity = targetVelocity;
// state.motor1TargetVelocity = targetVelocity;
// state.motor2TargetVelocity = targetVelocity;
double current = Math.abs(state.motor1Current.in(Amps)) + Math.abs(state.motor2Current.in(Amps));
double velocity = (Math.abs(state.motor1Velocity.in(RotationsPerSecond)) + Math.abs(state.motor2Velocity.in(RotationsPerSecond))) / 2;
// double current = Math.abs(state.motor1Current.in(Amps)) + Math.abs(state.motor2Current.in(Amps));
// double velocity = (Math.abs(state.motor1Velocity.in(RotationsPerSecond)) + Math.abs(state.motor2Velocity.in(RotationsPerSecond))) / 2;
if(
Math.abs(currentLimit.in(Amps)) > current &&
Math.abs(targetVelocity.in(RotationsPerSecond)) > velocity
) {
// if(
// Math.abs(currentLimit.in(Amps)) > current &&
// Math.abs(targetVelocity.in(RotationsPerSecond)) > velocity
// ) {
m_shooter1Motor.set(percentOutput);
m_shooter2Motor.set(percentOutput);
} else {
m_shooter1Motor.set(0);
m_shooter2Motor.set(0);
}
// } else {
// m_shooter1Motor.set(0);
// m_shooter2Motor.set(0);
// }
}
@Override