Team_2648/2026-Robot-Code
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encoder weird

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This commit is contained in:
Tylr-J42
2026-03-01 14:50:55 -05:00
parent 866e6b99df
commit 80ef3a3431
2 changed files with 14 additions and 6 deletions
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10
src/main/java/frc/robot/constants/ShooterConstants.java
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@@ -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)