From 68eb59bdc687fc45d1932062f0fd90c7fca46844 Mon Sep 17 00:00:00 2001
From: ryan123rudder <42309874+ryan123rudder@users.noreply.github.com>
Date: Fri, 31 Jan 2020 22:02:39 -0700
Subject: [PATCH] Fix the thing

and that other thing
---
 .../frc4388/robot/commands/ShooterVelocityControlPID.java | 8 ++------
 src/main/java/frc4388/robot/subsystems/Shooter.java       | 2 +-
 2 files changed, 3 insertions(+), 7 deletions(-)

diff --git a/src/main/java/frc4388/robot/commands/ShooterVelocityControlPID.java b/src/main/java/frc4388/robot/commands/ShooterVelocityControlPID.java
index dbd6603..799163b 100644
--- a/src/main/java/frc4388/robot/commands/ShooterVelocityControlPID.java
+++ b/src/main/java/frc4388/robot/commands/ShooterVelocityControlPID.java
@@ -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.
diff --git a/src/main/java/frc4388/robot/subsystems/Shooter.java b/src/main/java/frc4388/robot/subsystems/Shooter.java
index 5fe805a..6cfd3be 100644
--- a/src/main/java/frc4388/robot/subsystems/Shooter.java
+++ b/src/main/java/frc4388/robot/subsystems/Shooter.java
@@ -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*/);
   }
 }
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