Team4388/RiseOfRidgebotics2020
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Fix the thing

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and that other thing
This commit is contained in:
ryan123rudder
2020-01-31 22:02:39 -07:00
parent 8e7e521812
commit 68eb59bdc6
2 changed files with 3 additions and 7 deletions
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src/main/java/frc4388/robot/commands/ShooterVelocityControlPID.java
+2 -6
View File
@@ -31,12 +31,8 @@ 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*/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.m_shooterFalcon.getActiveTrajectoryVelocity());
}
System.err.println(m_shooter.m_shooterFalcon.getActiveTrajectoryVelocity());
m_shooter.runDrumShooterVelocityPID(m_targetVel, m_shooter.m_shooterFalcon.getActiveTrajectoryVelocity());
}
// Called once the command ends or is interrupted.
src/main/java/frc4388/robot/subsystems/Shooter.java
+1 -1
View File
@@ -83,7 +83,7 @@ public class Shooter extends SubsystemBase {
velP = 0.1;
}
double runSpeed = velP*(1-velP);
System.err.println(runSpeed);
//System.err.println(runSpeed);
m_shooterFalcon.set(TalonFXControlMode.PercentOutput, runSpeed/*ShooterConstants.ENCODER_TICKS_PER_REV/600*/);
}
}