From 80ef3a343188a9d9b9d83ac1095b06e429520076 Mon Sep 17 00:00:00 2001
From: Tylr-J42 <Tyler.Jacques00@gmail.com>
Date: Sun, 1 Mar 2026 14:50:55 -0500
Subject: [PATCH] encoder weird

---
 .../java/frc/robot/constants/ShooterConstants.java     | 10 +++++-----
 src/main/java/frc/robot/subsystems/Shooter.java        | 10 +++++++++-
 2 files changed, 14 insertions(+), 6 deletions(-)

diff --git a/src/main/java/frc/robot/constants/ShooterConstants.java b/src/main/java/frc/robot/constants/ShooterConstants.java
index 32c819e..90bdae2 100644
--- a/src/main/java/frc/robot/constants/ShooterConstants.java
+++ b/src/main/java/frc/robot/constants/ShooterConstants.java
@@ -37,20 +37,20 @@ public class ShooterConstants {
     public static final int kRightShooterMotorCANID = 5;
 
     public static final boolean kLeftShooterMotorInverted = true;
-    public static final boolean kRightShooterMotorInverted = true;
+    public static final boolean kRightShooterMotorInverted = false;
 
     public static final double kLeftP = 0;//0.1;
     public static final double kLeftI = 0;
     public static final double kLeftD = 0;
     public static final double kLeftS = 0;
-    public static final double kLeftV = 0.21;
+    public static final double kLeftV = 0.0;
     public static final double kLeftA = 0;
 
     public static final double kRightP = 0;//0.1;
     public static final double kRightI = 0;
     public static final double kRightD = 0;
     public static final double kRightS = 0;
-    public static final double kRightV = 0.21;
+    public static final double kRightV = 0.1;
     public static final double kRightA = 0;
 
     public static final double kMaxManualSpeedMultiplier = 1;
@@ -75,7 +75,7 @@ public class ShooterConstants {
             .inverted(kLeftShooterMotorInverted);
         kLeftMotorConfig.absoluteEncoder
             .positionConversionFactor(1)
-            .velocityConversionFactor(1);
+            .velocityConversionFactor(60);
         kLeftMotorConfig.closedLoop
             .feedbackSensor(FeedbackSensor.kAbsoluteEncoder)
             .pid(kLeftP, kLeftI, kLeftD)
@@ -89,7 +89,7 @@ public class ShooterConstants {
             .inverted(kRightShooterMotorInverted);
         kRightMotorConfig.absoluteEncoder
             .positionConversionFactor(1)
-            .velocityConversionFactor(1)
+            .velocityConversionFactor(60)
             .inverted(true);
         kRightMotorConfig.closedLoop
             .feedbackSensor(FeedbackSensor.kAbsoluteEncoder)
diff --git a/src/main/java/frc/robot/subsystems/Shooter.java b/src/main/java/frc/robot/subsystems/Shooter.java
index e40f7bf..0118ded 100644
--- a/src/main/java/frc/robot/subsystems/Shooter.java
+++ b/src/main/java/frc/robot/subsystems/Shooter.java
@@ -7,6 +7,7 @@ import org.littletonrobotics.junction.Logger;
 
 import com.revrobotics.AbsoluteEncoder;
 import com.revrobotics.PersistMode;
+import com.revrobotics.RelativeEncoder;
 import com.revrobotics.ResetMode;
 import com.revrobotics.spark.SparkClosedLoopController;
 import com.revrobotics.spark.SparkMax;
@@ -25,6 +26,8 @@ public class Shooter extends SubsystemBase {
     private AbsoluteEncoder leftEncoder;
     private AbsoluteEncoder rightEncoder;
 
+    private RelativeEncoder rightRelative;
+
     private SparkClosedLoopController leftClosedLoopController;
     private SparkClosedLoopController rightClosedLoopController;
 
@@ -54,6 +57,8 @@ public class Shooter extends SubsystemBase {
 
         // TODO Set this to the initial startup speed
         targetSpeeds = null;
+
+        rightRelative = rightMotor.getEncoder();
     }
 
     @Override
@@ -66,6 +71,9 @@ public class Shooter extends SubsystemBase {
         Logger.recordOutput("Shooter/LeftRollers/CurrentRPM", leftEncoder.getVelocity());
         Logger.recordOutput("Shooter/RightRollers/CurrentRPM", rightEncoder.getVelocity());
 
+        Logger.recordOutput("Shooter/RightRollers/rightmotor", rightRelative.getVelocity());
+
+
         // TODO How does the SparkMAX controller determine "at setpoint"? Is there any tolerance?
         Logger.recordOutput("Shooter/LeftRollers/AtSetpoint", leftClosedLoopController.isAtSetpoint());
         Logger.recordOutput("Shooter/RightRollers/AtSetpoint", rightClosedLoopController.isAtSetpoint());
@@ -85,7 +93,7 @@ public class Shooter extends SubsystemBase {
                 );
 
                 rightClosedLoopController.setSetpoint(
-                    -targetSpeeds.getSpeedRPM(), 
+                    targetSpeeds.getSpeedRPM(), 
                     ControlType.kVelocity
                 );
             }