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Fix Shooter PID

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ryan123rudder
2020-01-31 21:39:51 -07:00
parent 8a95c8a8cc
commit 42db77fe6d
6 changed files with 16 additions and 151 deletions
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src/main/java/frc4388/robot/commands/ShooterVelocityControlPID.java
+3 -2
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@@ -31,10 +31,11 @@ public class ShooterVelocityControlPID extends CommandBase {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
if (m_shooter.m_shooterFalcon.getActiveTrajectoryVelocity() < 1000){
if (/*m_shooter.m_shooterFalcon.getActiveTrajectoryVelocity() < 1000*/false){
m_shooter.runDrumShooter(0.5);
System.err.println("Less than 1000: " + m_shooter.m_shooterFalcon.getActiveTrajectoryVelocity());
} else {
m_shooter.runDrumShooterVelocityPID(m_targetVel);
m_shooter.runDrumShooterVelocityPID(m_targetVel, m_shooter.m_shooterFalcon.getActiveTrajectoryVelocity());
}
}