From 3f11fbd979d494bd161ce2f176b95c628acb249c Mon Sep 17 00:00:00 2001
From: ryan123rudder <42309874+ryan123rudder@users.noreply.github.com>
Date: Mon, 9 Mar 2020 20:05:47 -0600
Subject: [PATCH] Fix Shooter Velocity Control

& collect more data points
---
 src/main/deploy/Robot Data - Distances.csv                 | 7 ++++---
 .../robot/commands/shooter/ShooterVelocityControlPID.java  | 5 +----
 2 files changed, 5 insertions(+), 7 deletions(-)

diff --git a/src/main/deploy/Robot Data - Distances.csv b/src/main/deploy/Robot Data - Distances.csv
index b60700b..a63fa24 100644
--- a/src/main/deploy/Robot Data - Distances.csv	
+++ b/src/main/deploy/Robot Data - Distances.csv	
@@ -1,9 +1,10 @@
 Distance (in),Hood Ext. (u),Drum Velocity (u/ds),Center Displacment (deg)
-1,10,7000,2
-70,20,8000,2, double check
+1,10,8000,2
+70,21,8000,2, check
 100,24,9000,2
-145,28,10000,1,Add a 200
+145,28,10000,1
 230,31,12000,0,Add a 270
+246,32,15000,0
 320,32,17000,0,change 17000 and mark them lower
 331,33,17000,0
 397,33,16000,0
diff --git a/src/main/java/frc4388/robot/commands/shooter/ShooterVelocityControlPID.java b/src/main/java/frc4388/robot/commands/shooter/ShooterVelocityControlPID.java
index 215b6bd..75a6896 100644
--- a/src/main/java/frc4388/robot/commands/shooter/ShooterVelocityControlPID.java
+++ b/src/main/java/frc4388/robot/commands/shooter/ShooterVelocityControlPID.java
@@ -34,10 +34,7 @@ public class ShooterVelocityControlPID extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    m_shooter.runDrumShooterVelocityPID(/*m_shooter.addFireVel()*/13000);
-    //m_shooterHood.runAngleAdjustPID(m_shooterHood.addFireAngle());
-    //SmartDashboard.putNumber("Fire Velocity", m_shooter.addFireVel());
-    //SmartDashboard.putNumber("Fire Angle", m_shooter.addFireAngle());
+    m_shooter.runDrumShooterVelocityPID(m_shooter.addFireVel());
   }
 
   // Called once the command ends or is interrupted.