Work from 3/19 Meeting

src/main/java/frc/robot/subsystems/Shooter.java

@@ -14,6 +14,7 @@ import com.revrobotics.spark.SparkMax;
 import com.revrobotics.spark.SparkBase.ControlType;
 import com.revrobotics.spark.SparkLowLevel.MotorType;
 
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.constants.ShooterConstants;
@@ -63,6 +64,30 @@ public class Shooter extends SubsystemBase {
 
     @Override
     public void periodic() {
+        SmartDashboard.putNumber(
+            "ShooterTargetRPM", 
+            targetSpeeds == null ? 0 : targetSpeeds.getSpeedRPM());
+
+        SmartDashboard.putNumber(
+            "ShooterLeftSideRPM", 
+            leftEncoder.getVelocity()
+        );
+
+        SmartDashboard.putNumber(
+            "ShooterRightSideRPM", 
+            rightEncoder.getVelocity()
+        );
+
+        SmartDashboard.putBoolean(
+            "ShooterLeftSideAtSetpoint", 
+            leftClosedLoopController.isAtSetpoint()
+        );
+
+        SmartDashboard.putBoolean(
+            "ShooterRightSideAtSetpoint", 
+            rightClosedLoopController.isAtSetpoint()
+        );
+
         Logger.recordOutput(
             "Shooter/TargetRPM", 
             targetSpeeds == null ? 0 : targetSpeeds.getSpeedRPM()
@@ -73,6 +98,8 @@ public class Shooter extends SubsystemBase {
 
         Logger.recordOutput("Shooter/RightRollers/rightmotor", rightRelative.getVelocity());
 
+        Logger.recordOutput("Shooter/LeftRollers/OutputVoltage", leftMotor.getAppliedOutput() * leftMotor.getBusVoltage());
+        Logger.recordOutput("Shooter/RightRollers/OutputVoltage", rightMotor.getAppliedOutput() * rightMotor.getBusVoltage());
 
         // TODO How does the SparkMAX controller determine "at setpoint"? Is there any tolerance?
         Logger.recordOutput("Shooter/LeftRollers/AtSetpoint", leftClosedLoopController.isAtSetpoint());