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Fix Shooter

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This commit is contained in:
ryan123rudder
2020-02-04 18:09:40 -07:00
parent cfee098d05
commit 9d8f047bed
3 changed files with 11 additions and 9 deletions
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src/main/java/frc4388/robot/subsystems/Shooter.java
+9 -7
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@@ -35,6 +35,8 @@ public class Shooter extends SubsystemBase {
m_shooterFalcon.setInverted(true);
setShooterGains();
m_shooterFalcon.configPeakOutputReverse(0, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalcon.setSelectedSensorPosition(0, ShooterConstants.SHOOTER_PID_LOOP_IDX, ShooterConstants.SHOOTER_TIMEOUT_MS);
@@ -73,16 +75,16 @@ public class Shooter extends SubsystemBase {
* @param targetVel Target velocity to run motor at
*/
public void runDrumShooterVelocityPID(double targetVel, double actualVel) {
velP = actualVel/targetVel;
double runSpeed = actualVel + (12000*velP);
if (runSpeed > targetVel) {runSpeed = targetVel;}
velP = actualVel/targetVel; //Percent of target
double runSpeed = actualVel + (12000*velP); //Ramp up equation
//if (runSpeed > targetVel) {runSpeed = targetVel;}
SmartDashboard.putNumber("shoot", actualVel);
if (actualVel < targetVel - 7000){
m_shooterFalcon.set(TalonFXControlMode.Velocity, runSpeed);
runSpeed = runSpeed/targetVel; //Convert to percent
if (actualVel < targetVel - 1000){
m_shooterFalcon.set(TalonFXControlMode.PercentOutput, runSpeed);
}
else{
m_shooterFalcon.set(TalonFXControlMode.Velocity, targetVel);
m_shooterFalcon.set(TalonFXControlMode.Velocity, targetVel); //Init PID
}
}
}