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Intake code ready for robot

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This commit is contained in:
Michael Mikovsky
2026-02-09 16:03:48 -08:00
parent 684e18ddcc
commit d90bddac0f
6 changed files with 61 additions and 70 deletions
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src/main/java/frc4388/robot/subsystems/shooter/ShooterReal.java
+3 -6
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@@ -3,14 +3,11 @@ package frc4388.robot.subsystems.shooter;
import static edu.wpi.first.units.Units.InchesPerSecond;
import static edu.wpi.first.units.Units.RotationsPerSecond;
import com.ctre.phoenix6.configs.Slot0Configs;
import com.ctre.phoenix6.controls.VelocityDutyCycle;
import com.ctre.phoenix6.hardware.TalonFX;
import edu.wpi.first.units.measure.Angle;
import edu.wpi.first.units.measure.AngularVelocity;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.utility.configurable.ConfigurableDouble;
public class ShooterReal implements ShooterIO {
@@ -27,9 +24,9 @@ public class ShooterReal implements ShooterIO {
TalonFX shooter2Motor,
TalonFX indexerMotor
) {
m_shooter1Motor= shooter1Motor;
m_shooter2Motor= shooter2Motor;
m_indexerMotor = indexerMotor;
m_shooter1Motor = shooter1Motor;
m_shooter2Motor = shooter2Motor;
m_indexerMotor = indexerMotor;
m_shooter1Motor.getConfigurator().apply(ShooterConstants.SHOOTER_PID);
m_shooter2Motor.getConfigurator().apply(ShooterConstants.SHOOTER_PID);
m_indexerMotor.getConfigurator().apply(ShooterConstants.SHOOTER_PID);