Merge branch 'master' into bouncePath

2026-06-08 16:28:01 -06:00 · 2021-04-22 16:52:18 -06:00
parent b26620965e 7f8f57deee
commit 6de50c40d3
16 changed files with 306 additions and 64 deletions
@@ -0,0 +1,3 @@
+X,Y,Tangent X,Tangent Y,Fixed Theta,Name
+0.0,0.0,10.0,0.0,true,
+10.0,-10.0,0.0,-10.0,true,
@@ -0,0 +1,3 @@
+X,Y,Tangent X,Tangent Y,Fixed Theta,Name
+0.0,0.0,10.0,0.0,true,
+10.0,-10.0,0.0,-10.0,true,
@@ -4,6 +4,6 @@
  "maxVelocity": 2.6,
  "maxAcceleration": 2.7,
  "wheelBase": 0.648,
-  "gameName": "Bounce Path",
+  "gameName": "Galactic Search A",
  "outputDir": ".."
 }
@@ -1,7 +1,16 @@
 Distance (in),Hood Ext. (u),Drum Velocity (u/ds),Center Displacment (deg)
-70,20,7000,2.5,
-127,27,8467,2,
-223,31.25,10398,2.75,
-272,32.4,11776,2.5,
-342,33,13733,2,
-458,30.5,17000,0,
+0,16,12000,1,
+65.9,16,12000,1,
+103,19,12000,1,
+126.6,20.28,12000,1.5,
+156.6,28,12000,1.5,
+174,28,12000,1.5,
+178,28,12000,1.3
+180,28.5,12000,1.3,
+185.85,28.5,12000,1.3,
+187,28.5,12000,1.3
+200,28.4,12000,1.3
+231,28.4,12000,1.8,
+245,28.8,12000,1.8,
+262,28.8,12000,1.8,
+999,28.8,12000,1.8,
@@ -1,8 +1,63 @@
 Distance (in),Hood Ext. (u),Drum Velocity (u/ds),Center Displacment (deg)
-1,10,7769,0
-70,21,7769,0, check
-100,24,8580,0
-145,28,9390,0
-230,31,11010,0,Add a 270
-397,33,14250,0
-415,33,14452,0
+LOBING
+0,16,6000,1,
+65.9,16,6000,1,
+126.6,20.25,7000,0.95,
+180,21,7300,1,
+185.85,23.5,7500,1.625,
+245,26,9000,1,
+262,28,9000,1.25,
+999,28,9000,1.25,
+
+LASER
+0,16,6000,1,
+65.9,16,6000,1,
+126.6,20.25,7000,0.95,
+185.85,30,13000,1,
+245,31,18000,1,
+250,31,18000,1,
+999,31,18000,1,
+
+IN BETWEEN
+0,16,6000,1,
+65.9,16,6000,1,
+126.6,20.25,7000,0.95,
+180,24,8000,1,
+185.85,26.5, 9000,1.625,
+245,27,11000,1,
+262,27,11000,1.25,
+999,27,11000,1.25,
+
+HOLD
+0,16,6000,1,
+65.9,16,6000,1,
+103,19,6600,1,
+126.6,20.25,7000,1.5,
+156.6,22,7500,1.5,
+174,23,8000,1.5,
+180,23,8000,1.3,
+185.85,26.5,9000,1.3,
+231,28.8,9500,1.8,
+245,28.8,9500,1.8,
+262,28.8,9500,1.8,
+999,28.8,9500,1.8,
+
+
+
+
+
+
+Distance (in),Hood Ext. (u),Drum Velocity (u/ds),Center Displacment (deg)
+0,16,6000,1,
+65.9,16,6000,1,
+103,19,6600,1,
+126.6,20.25,7000,1.5,
+156.6,23,7500,1.5,
+174,28.5,13000,1.5,
+180,28.5,13000,1.3,
+185.85,28.5,13000,1.3,
+190,28.5,13000,1.9
+231,28.5,13000,1.8,
+245,28.8,13000,1.8,
+262,28.8,13000,1.8,
+999,28.8,13000,1.8,
@@ -624,6 +624,12 @@
                  "_title": "DigitalInput[12]/Value",
                  "Colors/Color when true": "#7CFC00FF",
                  "Colors/Color when false": "#8B0000FF"
+                },
+                {
+                  "_type": "Speed Controller",
+                  "_source0": "network_table:///LiveWindow/Ungrouped/Talon FX [15]",
+                  "_title": "Talon FX [15]",
+                  "Visuals/Orientation": "HORIZONTAL"
                }
              ]
            }
@@ -1003,6 +1009,138 @@
          }
        }
      }
+    },
+    {
+      "title": "Tab 5",
+      "autoPopulate": false,
+      "autoPopulatePrefix": "",
+      "widgetPane": {
+        "gridSize": 128.0,
+        "showGrid": true,
+        "hgap": 16.0,
+        "vgap": 16.0,
+        "tiles": {
+          "3,0": {
+            "size": [
+              3,
+              3
+            ],
+            "content": {
+              "_type": "Camera Stream",
+              "_source0": "camera_server://limelight",
+              "_title": "limelight",
+              "Crosshair/Show crosshair": true,
+              "Crosshair/Crosshair color": "#FFFFFFFF",
+              "Controls/Show controls": true,
+              "Controls/Rotation": "NONE",
+              "compression": -1.0,
+              "fps": -1,
+              "imageWidth": 0,
+              "imageHeight": 0
+            }
+          },
+          "7,1": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Text View",
+              "_source0": "network_table:///SmartDashboard/Fire Angle CSV",
+              "_title": "/SmartDashboard/Fire Angle CSV"
+            }
+          },
+          "7,0": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Text View",
+              "_source0": "network_table:///SmartDashboard/Drum Velocity CSV",
+              "_title": "/SmartDashboard/Drum Velocity CSV"
+            }
+          },
+          "6,1": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Text View",
+              "_source0": "network_table:///SmartDashboard/Distance to Target",
+              "_title": "/SmartDashboard/Distance to Target"
+            }
+          },
+          "3,3": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Text View",
+              "_source0": "network_table:///SmartDashboard/Distance to Target",
+              "_title": "/SmartDashboard/Distance to Target"
+            }
+          },
+          "0,0": {
+            "size": [
+              2,
+              2
+            ],
+            "content": {
+              "_type": "Graph",
+              "_source0": "network_table:///SmartDashboard/Drum Velocity",
+              "_title": "/SmartDashboard/Drum Velocity",
+              "Graph/Visible time": 30.0,
+              "Y-axis/Automatic bounds": true,
+              "Y-axis/Upper bound": 1.0,
+              "Y-axis/Lower bound": -1.0,
+              "Visible data/SmartDashboard/Drum Velocity": true
+            }
+          },
+          "6,2": {
+            "size": [
+              4,
+              2
+            ],
+            "content": {
+              "_type": "Graph",
+              "_source0": "network_table:///SmartDashboard/Drum Velocity",
+              "_title": "/SmartDashboard/Drum Velocity",
+              "Graph/Visible time": 30.0,
+              "Y-axis/Automatic bounds": true,
+              "Y-axis/Upper bound": 1.0,
+              "Y-axis/Lower bound": -1.0,
+              "Visible data/SmartDashboard/Drum Velocity": true
+            }
+          },
+          "4,3": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Text View",
+              "_source0": "network_table:///SmartDashboard/Turret Angle Raw",
+              "_title": "/SmartDashboard/Turret Angle Raw"
+            }
+          },
+          "6,0": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Boolean Box",
+              "_source0": "network_table:///SmartDashboard/Drum Ready",
+              "_title": "/SmartDashboard/Drum Ready",
+              "Colors/Color when true": "#7CFC00FF",
+              "Colors/Color when false": "#8B0000FF"
+            }
+          }
+        }
+      }
    }
  ],
  "windowGeometry": {
@@ -112,7 +112,8 @@ public final class Constants {
  
    public static final class ShooterConstants {
        /* Motor IDs */
-        public static final int SHOOTER_FALCON_ID = 8;
+        public static final int SHOOTER_FALCON_BALLER_ID = 8;
+        public static final int SHOOTER_FALCON_BALLER_FOLLOWER_ID = 15;
        public static final int SHOOTER_ANGLE_ADJUST_ID = 10;
        public static final int SHOOTER_ROTATE_ID = 9;

@@ -120,7 +121,7 @@ public final class Constants {
        public static final int SHOOTER_SLOT_IDX = 0;
        public static final int SHOOTER_PID_LOOP_IDX = 1;
        public static final int SHOOTER_TIMEOUT_MS = 30;
-        public static final Gains DRUM_SHOOTER_GAINS = new Gains(1.5, 0.0, 100, 0.055, 0, 1.0);
+        public static final Gains DRUM_SHOOTER_GAINS = new Gains(0.34, 0.0, 0.0, 0.055, 0, 1.0); //Ff was 0.055
        //public static final Gains DRUM_SHOOTER_GAINS = new Gains(0.55, 0.0, 100, 0.0, 0, 1.0);
        public static final Gains SHOOTER_TURRET_GAINS = new Gains(0.6, 0.0, 0.0, 0.0, 0, 1.0);
        public static final Gains SHOOTER_ANGLE_GAINS = new Gains(0.05, 0.0, 0.0, 0.0, 0, 0.3);
@@ -156,7 +157,7 @@ public final class Constants {
    }
  
    public static final class LevelerConstants {
-        public static final int LEVELER_CAN_ID = 15;
+        public static final int LEVELER_CAN_ID = 30;
    }

    public static final class IntakeConstants {;
@@ -171,7 +172,7 @@ public final class Constants {
        public static final int STORAGE_CAN_ID = 11;
        public static final double STORAGE_PARTIAL_BALL = 2;
        public static final double STORAGE_FULL_BALL = 7;
-        public static final double STORAGE_SPEED = 0.5;
+        public static final double STORAGE_SPEED = 0.75;
        public static final double STORAGE_TIMEOUT = 3000;

        /* Storage Characteristics */
@@ -211,10 +212,10 @@ public final class Constants {
    
    public static final class VisionConstants {
        public static final double FOV = 29.8; //Field of view of limelight
-        public static final double TARGET_HEIGHT = 71.5;
+        public static final double TARGET_HEIGHT = 67.5;
        public static final double LIME_ANGLE = 24.7;
        public static final double TURN_P_VALUE = 0.8;
-        public static final double X_ANGLE_ERROR = 1.3;
+        public static final double X_ANGLE_ERROR = 0.5;
        public static final double MOTOR_DEAD_ZONE = 0.2;
        public static final double DISTANCE_ERROR_EQUATION_M = 1.1279;
        public static final double DISTANCE_ERROR_EQUATION_B = -15.0684;
@@ -189,7 +189,7 @@ public class RobotContainer {
        // runs the hood with joystick
        m_robotShooterHood.setDefaultCommand(new RunHoodWithJoystick(m_robotShooterHood, getOperatorController()));
        // moves the drum not
-        m_robotShooter.setDefaultCommand(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(0), m_robotShooter));
+        m_robotShooter.setDefaultCommand(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(12000), m_robotShooter));
        // drives climber with input from triggers on the opperator controller
        m_robotClimber.setDefaultCommand(new RunClimberWithTriggers(m_robotClimber, getDriverController()));
        // drives the leveler with an axis input from the driver controller
@@ -210,10 +210,17 @@ public class RobotContainer {
     */
    private void configureButtonBindings() {
        /* Test Buttons */
+      
+        // A driver test button
+        new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
+            .whileHeld(new ShooterTrenchPosition(m_robotShooter, m_robotShooterHood, m_robotShooterAim))
+            .whenReleased(new InterruptSubystem(m_robotShooter))
+            .whenReleased(new InterruptSubystem(m_robotShooterHood));

        // B driver test button
        new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON)
            .whileHeld(new RunCommand(() -> m_robotDrive.runDriveVelocityPID(2000, 45), m_robotDrive));
+
        // Y driver test button
        new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
            .whenPressed(new InstantCommand(() -> m_robotDrive.runTurningPID(1000), m_robotDrive));
@@ -254,17 +261,19 @@ public class RobotContainer {
            //.whenPressed(new ShootFullGroup(m_robotShooter, m_robotShooterAim, m_robotShooterHood, m_robotStorage), false);
            //.whenReleased(new ManageStorage(m_robotStorage, StorageMode.RESET));
            //.whenReleased(new RunCommand(() -> m_robotLime.limeOff()));
-            .whenPressed(new RunCommand(() -> m_robotStorage.runStorage(1), m_robotStorage))
+            .whenPressed(new RunCommand(() -> m_robotStorage.runStorage(1.0), m_robotStorage))
            .whenReleased(new InterruptSubystem(m_robotStorage));

        // extends or retracts the extender
        new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON)
            .whileHeld(new RunCommand(() -> m_robotIntake.runExtender(0.5)))
            .whenReleased(new InstantCommand(() -> m_robotIntake.runExtender(0)));
+            //.whileHeld(new RunCommand(() -> m_robotShooterHood.runHood(0.2), m_robotShooterHood));
            
        new JoystickButton(getOperatorJoystick(), XboxController.Y_BUTTON)
            .whileHeld(new RunCommand(() -> m_robotIntake.runExtender(-0.5)))
            .whenReleased(new InstantCommand(() -> m_robotIntake.runExtender(0)));
+            //.whileHeld(new RunCommand(() -> m_robotShooterHood.runHood(-0.2), m_robotShooterHood));

        // safety for climber and leveler
        new JoystickButton(getOperatorJoystick(), XboxController.BACK_BUTTON)
@@ -275,10 +284,10 @@ public class RobotContainer {
        new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
            .whileHeld(new TrackTarget(m_robotShooterAim))
            .whileHeld(new RunCommand(() -> m_robotShooterHood.runAngleAdjustPID(m_robotShooterHood.addFireAngle())))
-            //.whenPressed(new StoragePrep(m_robotStorage))
-            //.whenReleased(new InterruptSubystem(m_robotStorage))
            .whenReleased(new InstantCommand(() -> m_robotLime.limeOff()));
-            //.whileHeld(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(13000)));
+
+            //.whileHeld(new RunCommand(() -> m_robotShooterAim.runshooterRotatePID()));
+            //.whileHeld(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(11000)));
            //.whileHeld(new HoldTarget(m_robotShooter, m_robotShooterAim))
            //.whileHeld(new RunCommand(() -> m_robotShooter.runAngleAdjustPID(30)));

@@ -291,6 +300,7 @@ public class RobotContainer {
            .whileHeld(new CalibrateShooter(m_robotShooter, m_robotShooterAim, m_robotShooterHood));


+
        //Run drum
        new JoystickManualButton(getOperatorJoystick(), XboxController.B_BUTTON, false)
            .whileHeld(new ShootPrepGroup(m_robotShooter, m_robotShooterAim, m_robotShooterHood, m_robotStorage), false)
@@ -94,7 +94,7 @@ public class DriveWithJoystick extends CommandBase {
    } 
  */
    
-    m_drive.driveWithInput(-moveOutput, steerOutput);
+    m_drive.driveWithInput(moveOutput, steerOutput * .8);
  }

  // Called once the command ends or is interrupted.
@@ -61,7 +61,7 @@ public class CalibrateShooter extends CommandBase {
  @Override
  public boolean isFinished() {
    if (m_shooterAim.m_shooterRotateMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyOpen).get() &&
-      m_shooterHood.m_angleAdjustMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyOpen).get()) {
+      m_shooterHood.m_hoodDownLimit.get()) {
      return true;
    }
    return false;
@@ -35,7 +35,7 @@ public class ShooterGoalPosition extends CommandBase {
  @Override
  public void execute() {
    m_shooter.runDrumShooterVelocityPID(5000);
-    m_hood.runAngleAdjustPID(3);
+    m_hood.runAngleAdjustPID(4);
    m_aim.runshooterRotatePID(-26.5);
  }

@@ -34,9 +34,9 @@ public class ShooterTrenchPosition extends CommandBase {
  // Called every time the scheduler runs while the command is scheduled.
  @Override
  public void execute() {
-    m_shooter.runDrumShooterVelocityPID(5000);
-    m_hood.runAngleAdjustPID(3);
-    m_aim.runshooterRotatePID(-26.5);
+    m_shooter.runDrumShooterVelocityPID(5500);
+    m_hood.runAngleAdjustPID(11);
+    //m_aim.runshooterRotatePID(-28);
  }

  // Called once the command ends or is interrupted.
@@ -35,7 +35,7 @@ public class ShooterVelocityControlPID extends CommandBase {
  @Override
  public void execute() {
    //Tells whether the target velocity has been reached
-    m_actualVel = m_shooter.m_shooterFalcon.getSelectedSensorPosition();
+    m_actualVel = m_shooter.m_shooterFalconLeft.getSelectedSensorPosition();
    m_targetVel = m_shooter.addFireVel();
    double error = m_actualVel - m_targetVel;
    if (Math.abs(error) < ShooterConstants.DRUM_VELOCITY_BOUND){
@@ -69,24 +69,26 @@ public class TrackTarget extends CommandBase {
    yAngle = NetworkTableInstance.getDefault().getTable("limelight").getEntry("ty").getDouble(0);

    // Finding Distance
-    distance = VisionConstants.TARGET_HEIGHT / Math.tan((VisionConstants.LIME_ANGLE + yAngle) * (Math.PI / 180));
+    distance = (VisionConstants.TARGET_HEIGHT) / Math.tan((VisionConstants.LIME_ANGLE + yAngle) * (Math.PI / 180));
    realDistance = (1.09 * distance) - 12.8;


    if (target == 1.0) { // If target in view
      // Aiming Left/Right
      xAngle = xAngle + m_shooter.m_shooterTable.getCenterDisplacement(realDistance);
-      turnAmount = (xAngle / VisionConstants.FOV) * VisionConstants.TURN_P_VALUE;
+      turnAmount = ((xAngle / VisionConstants.FOV) * VisionConstants.TURN_P_VALUE);
      if (Math.abs(xAngle) < VisionConstants.X_ANGLE_ERROR) {
        turnAmount = 0;
      } // Angle Error Zone
      // Deadzones
-      else if (turnAmount > 0 && turnAmount < VisionConstants.MOTOR_DEAD_ZONE) {
-        turnAmount = VisionConstants.MOTOR_DEAD_ZONE;
-      } else if (turnAmount < 0 && turnAmount > -VisionConstants.MOTOR_DEAD_ZONE) {
-        turnAmount = -VisionConstants.MOTOR_DEAD_ZONE;
+      else if (turnAmount > 0 && turnAmount < 0.1){// VisionConstants.MOTOR_DEAD_ZONE) {
+        turnAmount = 0.1;//VisionConstants.MOTOR_DEAD_ZONE;
+      } else if (turnAmount < 0 && turnAmount > -0.1){//-VisionConstants.MOTOR_DEAD_ZONE) {
+        turnAmount = -0.1;//-VisionConstants.MOTOR_DEAD_ZONE;
      }
+
      m_shooterAim.runShooterWithInput(-turnAmount);// - m_shooter.shooterTrims.m_turretTrim);
+      //m_shooterAim.runshooterRotatePID(targetAngle);

      SmartDashboard.putNumber("Distance to Target", realDistance);
      SmartDashboard.putNumber("Center Displacement", m_shooter.m_shooterTable.getCenterDisplacement(realDistance));
@@ -313,7 +313,7 @@ public class Drive extends SubsystemBase {
  public void passRequiredSubsystem(Pneumatics subsystem, Shooter shooter) {
    m_pneumaticsSubsystem = subsystem;
    m_shooter = shooter;
-    m_orchestra.addInstrument(m_shooter.m_shooterFalcon);
+    m_orchestra.addInstrument(m_shooter.m_shooterFalconLeft);
  }

  public void updateTime() {
@@ -21,8 +21,8 @@ import frc4388.utility.controller.IHandController;

 public class Shooter extends SubsystemBase {

-  public WPI_TalonFX m_shooterFalcon = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_ID);
-
+  public WPI_TalonFX m_shooterFalconLeft = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_BALLER_ID);
+  public WPI_TalonFX m_shooterFalconRight = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_BALLER_FOLLOWER_ID);
  public static Gains m_drumShooterGains = ShooterConstants.DRUM_SHOOTER_GAINS;
  public static Shooter m_shooter;
  public static IHandController m_controller;
@@ -50,24 +50,42 @@ public class Shooter extends SubsystemBase {
    //SmartDashboard.putNumber("Velocity Target", 10000);
    //SmartDashboard.putNumber("Angle Target", 3);

-    m_shooterFalcon.configFactoryDefault();
-    m_shooterFalcon.setNeutralMode(NeutralMode.Coast);
-    m_shooterFalcon.setInverted(true);
-    m_shooterFalcon.configOpenloopRamp(1, ShooterConstants.SHOOTER_TIMEOUT_MS);
-    m_shooterFalcon.configClosedloopRamp(0.75, ShooterConstants.SHOOTER_TIMEOUT_MS);
+    //LEFT FALCON
+    m_shooterFalconLeft.configFactoryDefault();
+    m_shooterFalconLeft.setNeutralMode(NeutralMode.Coast);
+    m_shooterFalconLeft.setInverted(true);
+    m_shooterFalconLeft.configOpenloopRamp(1, ShooterConstants.SHOOTER_TIMEOUT_MS);
+    m_shooterFalconLeft.configClosedloopRamp(0.75, ShooterConstants.SHOOTER_TIMEOUT_MS);
+
+    //RIGHT FALCON
+    m_shooterFalconRight.configFactoryDefault();
+    m_shooterFalconRight.setNeutralMode(NeutralMode.Coast);
+    m_shooterFalconRight.setInverted(false);
+    m_shooterFalconRight.configOpenloopRamp(1, ShooterConstants.SHOOTER_TIMEOUT_MS);
+    m_shooterFalconRight.configClosedloopRamp(0.75, ShooterConstants.SHOOTER_TIMEOUT_MS);
    setShooterGains();

-    m_shooterFalcon.configPeakOutputReverse(0, ShooterConstants.SHOOTER_TIMEOUT_MS);
-    
-    m_shooterFalcon.setSelectedSensorPosition(0, ShooterConstants.SHOOTER_PID_LOOP_IDX, ShooterConstants.SHOOTER_TIMEOUT_MS);
-    
    int closedLoopTimeMs = 1;
-    m_shooterFalcon.configClosedLoopPeriod(0, closedLoopTimeMs, ShooterConstants.SHOOTER_TIMEOUT_MS);
+    //LEFT FALCON
+    m_shooterFalconLeft.configPeakOutputReverse(0, ShooterConstants.SHOOTER_TIMEOUT_MS);
+    
+    m_shooterFalconLeft.setSelectedSensorPosition(0, ShooterConstants.SHOOTER_PID_LOOP_IDX, ShooterConstants.SHOOTER_TIMEOUT_MS);
+    
+    m_shooterFalconLeft.configClosedLoopPeriod(0, closedLoopTimeMs, ShooterConstants.SHOOTER_TIMEOUT_MS);
+
+    m_shooterFalconLeft.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG, ShooterConstants.SHOOTER_TIMEOUT_MS);
+
+    
+      //RIGHT FALCON
+    //m_shooterFalconRight.configPeakOutputForward(0, ShooterConstants.SHOOTER_TIMEOUT_MS);
+    
+    m_shooterFalconRight.setSelectedSensorPosition(0, ShooterConstants.SHOOTER_PID_LOOP_IDX, ShooterConstants.SHOOTER_TIMEOUT_MS);
+    
+    m_shooterFalconRight.configClosedLoopPeriod(0, closedLoopTimeMs, ShooterConstants.SHOOTER_TIMEOUT_MS);
+
+    m_shooterFalconRight.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG, ShooterConstants.SHOOTER_TIMEOUT_MS);

    m_shooterTable = new ShooterTables();
-
-    m_shooterFalcon.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG, ShooterConstants.SHOOTER_TIMEOUT_MS);
-
    //SmartDashboard.putNumber("CSV 10", m_shooterTable.getVelocity(10));
    //SmartDashboard.putNumber("CSV 200", m_shooterTable.getVelocity(200));
    //SmartDashboard.putNumber("CSV 250", m_shooterTable.getVelocity(250));
@@ -83,13 +101,13 @@ public class Shooter extends SubsystemBase {
  public void periodic() {
    // This method will be called once per scheduler run
    try{
-      SmartDashboard.putNumber("Drum Velocity", m_shooterFalcon.getSelectedSensorVelocity());
+      SmartDashboard.putNumber("Drum Velocity", m_shooterFalconLeft.getSelectedSensorVelocity());

      SmartDashboard.putNumber("Drum Velocity CSV", m_fireVel);

-      SmartDashboard.putNumber("Shooter Temp C", m_shooterFalcon.getTemperature());
+      SmartDashboard.putNumber("Shooter Temp C", m_shooterFalconLeft.getTemperature());

-      SmartDashboard.putNumber("Shooter Current", m_shooterFalcon.getSupplyCurrent());
+      SmartDashboard.putNumber("Shooter Current", m_shooterFalconLeft.getSupplyCurrent());

      SmartDashboard.putBoolean("Drum Ready" , m_isDrumReady);
    }
@@ -118,18 +136,20 @@ public class Shooter extends SubsystemBase {
   * @param speed Speed to set the motor at
   */
  public void runDrumShooter(double speed) {
-    m_shooterFalcon.set(speed);
+    m_shooterFalconLeft.set(TalonFXControlMode.PercentOutput, speed);
+    m_shooterFalconRight.follow(m_shooterFalconLeft);
+    //m_shooterFalconRight.set(TalonFXControlMode.PercentOutput, speed);
  }

  /**
   * Configures gains for shooter PID.
   */
  public void setShooterGains() {
-    m_shooterFalcon.selectProfileSlot(ShooterConstants.SHOOTER_SLOT_IDX, ShooterConstants.SHOOTER_PID_LOOP_IDX);
-    m_shooterFalcon.config_kF(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.m_kF, ShooterConstants.SHOOTER_TIMEOUT_MS);
-    m_shooterFalcon.config_kP(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.m_kP, ShooterConstants.SHOOTER_TIMEOUT_MS);
-    m_shooterFalcon.config_kI(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.m_kI, ShooterConstants.SHOOTER_TIMEOUT_MS);
-    m_shooterFalcon.config_kD(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.m_kD, ShooterConstants.SHOOTER_TIMEOUT_MS);
+    m_shooterFalconLeft.selectProfileSlot(ShooterConstants.SHOOTER_SLOT_IDX, ShooterConstants.SHOOTER_PID_LOOP_IDX);
+    m_shooterFalconLeft.config_kF(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.m_kF, ShooterConstants.SHOOTER_TIMEOUT_MS);
+    m_shooterFalconLeft.config_kP(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.m_kP, ShooterConstants.SHOOTER_TIMEOUT_MS);
+    m_shooterFalconLeft.config_kI(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.m_kI, ShooterConstants.SHOOTER_TIMEOUT_MS);
+    m_shooterFalconLeft.config_kD(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.m_kD, ShooterConstants.SHOOTER_TIMEOUT_MS);
  }

  /**
@@ -138,6 +158,7 @@ public class Shooter extends SubsystemBase {
   */
  public void runDrumShooterVelocityPID(double targetVel) {
    //System.out.println("Target Velocity" + targetVel);
-    m_shooterFalcon.set(TalonFXControlMode.Velocity, targetVel); //Init PID
+    m_shooterFalconLeft.set(TalonFXControlMode.Velocity, targetVel); //Init PID
+    m_shooterFalconRight.follow(m_shooterFalconLeft);
  }
 }