Bradley/2024_Programming_Training_Demos
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Many updates for CS20 and CS21

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This commit is contained in:
Bradley Bickford
2024-12-29 20:00:03 -05:00
parent afe6487706
commit 6cb76c01b2
12 changed files with 232 additions and 13 deletions
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1
CS18 - Sensors with Advanced Controls/src/main/java/frc/robot/constants/ShooterConstants.java
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@@ -12,6 +12,7 @@ public class ShooterConstants {
public static final double kEncoderConversionFactor = 0;
public static final double kBangBangTolerance = 0;
public static final double kBangBangVoltageMultiplier = 10;
public static final double kFFS = 0;
public static final double kFFV = 0;

2
CS18 - Sensors with Advanced Controls/src/main/java/frc/robot/subsystems/Shooter.java
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@@ -53,7 +53,7 @@ public class Shooter extends SubsystemBase {
double output = controller.calculate(
(motor1Encoder.getRate() + motor2Encoder.getRate()) / 2,
speed
) + ff.calculate(speed);
) * ShooterConstants.kBangBangVoltageMultiplier + ff.calculate(speed);
motor1.setVoltage(output);
});