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Spin up before engaging shooter pid

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aarav18
2020-01-21 16:45:29 -07:00
parent db5c15a452
commit 7f96cecc4d
4 changed files with 11 additions and 6 deletions
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src/main/java/frc4388/robot/subsystems/Shooter.java
+3 -2
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@@ -43,13 +43,14 @@ public class Shooter extends SubsystemBase {
m_shooterFalcon.configClosedLoopPeriod(0, closedLoopTimeMs, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalcon.configClosedLoopPeriod(1, closedLoopTimeMs, ShooterConstants.SHOOTER_TIMEOUT_MS);
SmartDashboard.putNumber("Shooter Velocity", m_targetVel);
SmartDashboard.putNumber("Shooter Velocity Target", m_targetVel);
}
@Override
public void periodic() {
// This method will be called once per scheduler run
m_targetVel = SmartDashboard.getNumber("Shooter Velocity", m_targetVel);
m_targetVel = SmartDashboard.getNumber("Shooter Velocity Target", m_targetVel);
SmartDashboard.putNumber("Shooter Velocity", m_shooterFalcon.getSelectedSensorVelocity()*600/ShooterConstants.ENCODER_TICKS_PER_REV);
}
/**