Team_2648/2026-Robot-Code
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one shooter good

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This commit is contained in:
Tylr-J42
2026-03-01 15:56:55 -05:00
parent 80ef3a3431
commit 96fb68cb32
1 changed files with 8 additions and 8 deletions
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16
src/main/java/frc/robot/constants/ShooterConstants.java
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@@ -8,8 +8,8 @@ import edu.wpi.first.math.util.Units;
public class ShooterConstants { public class ShooterConstants {
public enum ShooterSpeeds { public enum ShooterSpeeds {
kHubSpeed(4000.0), kHubSpeed(3000.0),
kFeedSpeed(6000.0); kFeedSpeed(3000.0);
private double speedMPS; private double speedMPS;
private double speedRPM; private double speedRPM;
@@ -39,18 +39,18 @@ public class ShooterConstants {
public static final boolean kLeftShooterMotorInverted = true; public static final boolean kLeftShooterMotorInverted = true;
public static final boolean kRightShooterMotorInverted = false; public static final boolean kRightShooterMotorInverted = false;
public static final double kLeftP = 0;//0.1; public static final double kLeftP = 0.0;//0.001;
public static final double kLeftI = 0; public static final double kLeftI = 0;
public static final double kLeftD = 0; public static final double kLeftD = 0;
public static final double kLeftS = 0; public static final double kLeftS = 0;
public static final double kLeftV = 0.0; public static final double kLeftV = 0.00121;
public static final double kLeftA = 0; public static final double kLeftA = 0;
public static final double kRightP = 0;//0.1; public static final double kRightP = 0.001;//0.1;
public static final double kRightI = 0; public static final double kRightI = 0;
public static final double kRightD = 0; public static final double kRightD = 0.000;
public static final double kRightS = 0; public static final double kRightS = 0;
public static final double kRightV = 0.1; public static final double kRightV = 0.00121;
public static final double kRightA = 0; public static final double kRightA = 0;
public static final double kMaxManualSpeedMultiplier = 1; public static final double kMaxManualSpeedMultiplier = 1;
@@ -58,7 +58,7 @@ public class ShooterConstants {
public static final double kShooterHeightMeters = 0; public static final double kShooterHeightMeters = 0;
// TODO Is this value sane? // TODO Is this value sane?
public static final int kCurrentLimit = 50; public static final int kCurrentLimit = 60;
public static final IdleMode kShooterIdleMode = IdleMode.kCoast; public static final IdleMode kShooterIdleMode = IdleMode.kCoast;