Team4388/RiseOfRidgebotics2020
1
0
Fork 0
mirror of https://github.com/Team4388/RiseOfRidgebotics2020.git synced 2026-06-09 00:38:00 -06:00
Code Issues Packages Projects Releases Wiki Activity

Makework

Browse Source
This commit is contained in:
ryan123rudder
2020-02-22 15:03:10 -07:00
parent 4888a4c08d
commit 881c3d9076
9 changed files with 23 additions and 73 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/subsystems/Shooter.java
+2 -2
View File
@@ -127,10 +127,10 @@ public class Shooter extends SubsystemBase {
runSpeed = runSpeed/targetVel; //Convert to percent
if (actualVel < targetVel - 1000){ //PID Based on ramp up amount
m_shooterFalcon.set(TalonFXControlMode.PercentOutput, runSpeed);
m_shooterFalcon.set(TalonFXControlMode.PercentOutput, runSpeed/3);
}
else{ //PID Based on targetVel
m_shooterFalcon.set(TalonFXControlMode.Velocity, targetVel); //Init PID
m_shooterFalcon.set(TalonFXControlMode.Velocity, targetVel/3); //Init PID
}
}