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Fix shooter

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This commit is contained in:
Michael Mikovsky
2026-02-14 14:03:32 -08:00
parent 736d7ef823
commit da6f9b50b5
6 changed files with 61 additions and 61 deletions
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src/main/java/frc4388/robot/subsystems/shooter/ShooterReal.java
+3 -3
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@@ -49,7 +49,7 @@ public class ShooterReal implements ShooterIO {
return;
}
AngularVelocity motorRps = target.times(ShooterConstants.INDEXER_GEAR_RATIO);
AngularVelocity motorRps = target.times(ShooterConstants.SHOOTERMOTOR_GEAR_RATIO);
m_shooter1Motor.setControl(shooter1Velocity.withVelocity(motorRps));
m_shooter2Motor.setControl(shooter2Velocity.withVelocity(motorRps));
@@ -72,8 +72,8 @@ public class ShooterReal implements ShooterIO {
@Override
public void updateInputs(ShooterState state) {
state.motor1Velocity = m_shooter1Motor.getVelocity().getValue().div(ShooterConstants.SHOOTERMOTOR1_GEAR_RATIO);
state.motor2Velocity = m_shooter2Motor.getVelocity().getValue().div(ShooterConstants.SHOOTERMOTOR2_GEAR_RATIO);
state.motor1Velocity = m_shooter1Motor.getVelocity().getValue().div(ShooterConstants.SHOOTERMOTOR_GEAR_RATIO);
state.motor2Velocity = m_shooter2Motor.getVelocity().getValue().div(ShooterConstants.SHOOTERMOTOR_GEAR_RATIO);
state.indexerVelocity = m_indexerMotor.getVelocity().getValue().div(ShooterConstants.INDEXER_GEAR_RATIO);
// state.motorLinearVelocity = InchesPerSecond.of(m_shooter1Motor.getVelocity().getValue().in(RotationsPerSecond) * ShooterConstants.FEEDER_INCHES_PER_ROT);