Team_2648/2026-Robot-Code
5
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

shooter units off

Browse Source
This commit is contained in:
Tylr-J42
2026-03-01 13:58:39 -05:00
parent 3791333f56
commit 866e6b99df
2 changed files with 25 additions and 18 deletions
Download Patch File Download Diff File Expand all files Collapse all files

12
src/main/java/frc/robot/subsystems/Shooter.java
View File

@@ -59,12 +59,12 @@ public class Shooter extends SubsystemBase {
@Override
public void periodic() {
Logger.recordOutput(
"Shooter/TargetMPS",
targetSpeeds == null ? 0 : targetSpeeds.getSpeedMPS()
"Shooter/TargetRPM",
targetSpeeds == null ? 0 : targetSpeeds.getSpeedRPM()
);
Logger.recordOutput("Shooter/LeftRollers/CurrentMPS", leftEncoder.getVelocity());
Logger.recordOutput("Shooter/RightRollers/CurrentMPS", rightEncoder.getVelocity());
Logger.recordOutput("Shooter/LeftRollers/CurrentRPM", leftEncoder.getVelocity());
Logger.recordOutput("Shooter/RightRollers/CurrentRPM", rightEncoder.getVelocity());
// TODO How does the SparkMAX controller determine "at setpoint"? Is there any tolerance?
Logger.recordOutput("Shooter/LeftRollers/AtSetpoint", leftClosedLoopController.isAtSetpoint());
@@ -80,12 +80,12 @@ public class Shooter extends SubsystemBase {
rightMotor.disable();
} else {
leftClosedLoopController.setSetpoint(
targetSpeeds.getSpeedMPS(),
targetSpeeds.getSpeedRPM(),
ControlType.kVelocity
);
rightClosedLoopController.setSetpoint(
-targetSpeeds.getSpeedMPS(),
-targetSpeeds.getSpeedRPM(),
ControlType.kVelocity
);
}