shooter units off

src/main/java/frc/robot/constants/ShooterConstants.java

@@ -8,17 +8,23 @@ import edu.wpi.first.math.util.Units;
 
 public class ShooterConstants {
     public enum ShooterSpeeds {
-        kHubSpeed(0),
+        kHubSpeed(4000.0),
-        kFeedSpeed(0.35);
+        kFeedSpeed(6000.0);
 
         private double speedMPS;
+        private double speedRPM;
 
-        private ShooterSpeeds(double speedMPS) {
+        private ShooterSpeeds(double speedRPM) {
-            this.speedMPS = speedMPS;
+            this.speedMPS = speedRPM * kWheelDiameter*Math.PI;
+            this.speedRPM = speedRPM;
         }
 
         public double getSpeedMPS() {
-            return speedMPS;
+            return speedMPS * kWheelDiameter*Math.PI;
+        }
+
+        public double getSpeedRPM(){
+            return speedRPM;
         }
     }
 
@@ -31,16 +37,16 @@ public class ShooterConstants {
     public static final int kRightShooterMotorCANID = 5;
 
     public static final boolean kLeftShooterMotorInverted = true;
-    public static final boolean kRightShooterMotorInverted = false;
+    public static final boolean kRightShooterMotorInverted = true;
 
-    public static final double kLeftP = 0.1;
+    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 kLeftA = 0;
 
-    public static final double kRightP = 0.1;
+    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;
@@ -68,8 +74,8 @@ public class ShooterConstants {
             .smartCurrentLimit(kCurrentLimit)
             .inverted(kLeftShooterMotorInverted);
         kLeftMotorConfig.absoluteEncoder
-            .positionConversionFactor(kWheelDiameter * Math.PI)
+            .positionConversionFactor(1)
-            .velocityConversionFactor(kWheelDiameter * Math.PI / 60);
+            .velocityConversionFactor(1);
         kLeftMotorConfig.closedLoop
             .feedbackSensor(FeedbackSensor.kAbsoluteEncoder)
             .pid(kLeftP, kLeftI, kLeftD)
@@ -82,8 +88,9 @@ public class ShooterConstants {
             .smartCurrentLimit(kCurrentLimit)
             .inverted(kRightShooterMotorInverted);
         kRightMotorConfig.absoluteEncoder
-            .positionConversionFactor(kWheelDiameter * Math.PI)
+            .positionConversionFactor(1)
-            .velocityConversionFactor(kWheelDiameter * Math.PI / 60);
+            .velocityConversionFactor(1)
+            .inverted(true);
         kRightMotorConfig.closedLoop
             .feedbackSensor(FeedbackSensor.kAbsoluteEncoder)
             .pid(kRightP, kRightI, kRightD)

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

@@ -59,12 +59,12 @@ public class Shooter extends SubsystemBase {
     @Override
     public void periodic() {
         Logger.recordOutput(
-            "Shooter/TargetMPS", 
+            "Shooter/TargetRPM", 
-            targetSpeeds == null ? 0 : targetSpeeds.getSpeedMPS()
+            targetSpeeds == null ? 0 : targetSpeeds.getSpeedRPM()
         );
 
-        Logger.recordOutput("Shooter/LeftRollers/CurrentMPS", leftEncoder.getVelocity());
+        Logger.recordOutput("Shooter/LeftRollers/CurrentRPM", leftEncoder.getVelocity());
-        Logger.recordOutput("Shooter/RightRollers/CurrentMPS", rightEncoder.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
                 );
             }