Changes from build session 3/3/26

outpost paths
good flywheel and hood control
2026-03-04 10:05:46 -05:00 · 2026-03-03 14:11:12 -05:00 · 2026-03-01 19:15:36 -05:00 · 2026-03-01 16:38:07 -05:00 · 2026-03-01 16:36:06 -05:00 · 2026-03-01 15:56:55 -05:00
14 changed files with 255 additions and 54 deletions
--- a/src/main/deploy/pathplanner/autos/Outpost.auto
+++ b/src/main/deploy/pathplanner/autos/Outpost.auto
@@ -0,0 +1,31 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Start to outpost"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Outpost to Ranged Shot"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Auto Shoot"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
--- a/src/main/deploy/pathplanner/paths/Outpost
+++ b/src/main/deploy/pathplanner/paths/Outpost
@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 0.7089624329216013,
+        "y": 0.668228980317108
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.1043470483005366,
+        "y": 0.7169051878354196
+      },
+      "isLocked": false,
+      "linkedName": "Outpost"
+    },
+    {
+      "anchor": {
+        "x": 2.3639534883720925,
+        "y": 2.9722361359570666
+      },
+      "prevControl": {
+        "x": 2.234150268336314,
+        "y": 2.5666010733452596
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 24.304549265936604
+  },
+  "reversed": false,
+  "folder": "Right Outpost",
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 180.0
+  },
+  "useDefaultConstraints": true
+}
--- a/src/main/deploy/pathplanner/paths/Start
+++ b/src/main/deploy/pathplanner/paths/Start
@@ -0,0 +1,66 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.6619856887266913,
+        "y": 2.2583184257605784
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.4937567084046877,
+        "y": 1.3172450805011864
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 0.7089624329216013,
+        "y": 0.668228980317108
+      },
+      "prevControl": {
+        "x": 1.6987119856944102,
+        "y": 1.0414132379199703
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "Outpost"
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 0.7234468937875753,
+      "rotationDegrees": 180.0
+    }
+  ],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [
+    {
+      "name": "Intake Start",
+      "waypointRelativePos": 0.4500000000000002,
+      "endWaypointRelativePos": null,
+      "command": null
+    }
+  ],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 180.0
+  },
+  "reversed": false,
+  "folder": "Right Outpost",
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 180.0
+  },
+  "useDefaultConstraints": true
+}
--- a/src/main/deploy/pathplanner/settings.json
+++ b/src/main/deploy/pathplanner/settings.json
@@ -2,7 +2,9 @@
  "robotWidth": 0.921,
  "robotLength": 0.787,
  "holonomicMode": true,
-  "pathFolders": [],
+  "pathFolders": [
+    "Right Outpost"
+  ],
  "autoFolders": [],
  "defaultMaxVel": 3.0,
  "defaultMaxAccel": 3.0,
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -42,7 +42,7 @@ import frc.robot.utilities.Elastic;
 import frc.robot.utilities.Utilities;

 public class RobotContainer {
-    //private PhotonVision vision;
+    private PhotonVision vision;
    private Drivetrain drivetrain;
    private Hood hood;
    private Shooter shooter;
@@ -59,7 +59,7 @@ public class RobotContainer {
    private Timer shiftTimer;

    public RobotContainer() {
-        //vision = new PhotonVision();
+        vision = new PhotonVision();
        drivetrain = new Drivetrain(null);
        hood = new Hood();
        shooter = new Shooter();
@@ -68,14 +68,14 @@ public class RobotContainer {
        spindexer = new Spindexer();
        //climber = new Climber();

-        /*
+        
        vision.addPoseEstimateConsumer(drivetrain::consumeVisualPose);
        vision.addPoseEstimateConsumer((vp) -> {
            Logger.recordOutput(
                "Vision/" + vp.cameraName() + "/Pose", 
                vp.visualPose()
            );
-        });*/
+        });

        driver = new CommandXboxController(OIConstants.kDriverControllerPort);
        secondary = new CommandXboxController(OIConstants.kOperatorControllerPort);
@@ -108,8 +108,8 @@ public class RobotContainer {
        // This should just work, if it doesn't it's likely modules aren't assigned the right IDs
        // after the electronics rebuild. For testing normal operation nothing about the Drivetrain
        // class should need to change
-        drivetrain.setDefaultCommand(drivetrain.drive(() -> 0, () -> 0, () -> 0, () -> true));
-        /*drivetrain.setDefaultCommand(
+        //drivetrain.setDefaultCommand(drivetrain.drive(() -> 0, () -> 0, () -> 0, () -> true));
+        drivetrain.setDefaultCommand(
            drivetrain.drive(
                driver::getLeftY,
                driver::getLeftX, 
@@ -118,6 +118,8 @@ public class RobotContainer {
            )
        );

+        driver.y().whileTrue(drivetrain.zeroHeading());
+/* 
        // This needs to be tested after a prolonged amount of driving around <i>aggressively</i>.
        // Do things like going over the bump repeatedly, spin around a bunch, etc. 
        // If this works well over time, then this is likely all we need
@@ -168,7 +170,6 @@ public class RobotContainer {
        // DO NOT INVERT MOTION WITH UNARY MINUS (-). Every motor can be inverted from the 
        // constants file for the subsystem having the problem
        driver.rightBumper().whileTrue(
-            //intakeRoller.runIn().alongWith(spindexer.spinToShooter())
            spindexer.spinToShooter()  
        );

@@ -178,7 +179,8 @@ public class RobotContainer {
        // DO NOT INVERT MOTION WITH UNARY MINUS (-). Every motor can be inverted from the 
        // constants file for the subsystem having the problem
        driver.leftBumper().whileTrue(
-            intakeRoller.runOut().alongWith(spindexer.spinToIntake())
+            intakeRoller.runIn()
+            //intakeRoller.runOut().alongWith(spindexer.spinToIntake())
        );

        // While holding D-Pad up on the secondary controller, the shooter should spin
@@ -226,6 +228,10 @@ public class RobotContainer {
        secondary.x().whileTrue(intakePivot.maintainPosition(IntakePivotPosition.kDown));
        secondary.y().whileTrue(intakePivot.maintainPosition(IntakePivotPosition.kUp));

+        secondary.povUp().whileTrue(hood.trackToAngle(() -> Math.toRadians(40.0)));
+        secondary.povDown().whileTrue(hood.trackToAngle(() -> Math.toRadians(0.0)));
+        
+
        // TODO Some means of testing hood PIDF
        // TODO Some means of testing climber PIDF
    }
--- a/src/main/java/frc/robot/constants/HoodConstants.java
+++ b/src/main/java/frc/robot/constants/HoodConstants.java
@@ -6,6 +6,7 @@ import java.io.FileReader;
 import java.io.IOException;
 import java.nio.file.Path;

+import com.revrobotics.spark.ClosedLoopSlot;
 import com.revrobotics.spark.FeedbackSensor;
 import com.revrobotics.spark.config.SparkMaxConfig;
 import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
@@ -17,16 +18,17 @@ public class HoodConstants {
    // TODO Real Values
    public static final int kMotorCANID = 12;

-    public static final double kConversionFactor = 3.0*147.0/8.0;
+    public static final double kConversionFactor = (1.0/3.0)*(8.0/147.0)*2*Math.PI;

-    public static final double kP = 0;
+    public static final double kP = 1.75;
    public static final double kI = 0;
    public static final double kD = 0;
-    public static final double kS = 0;
+    public static final double kS = 0.435;
    public static final double kV = 0;
    public static final double kA = 0;
-    public static final double kStartupAngle = 0;
-    public static final double kMaxManualSpeedMultiplier = 1;
+    public static final double kStartupAngle = 0.0;
+    public static final double kMaxManualSpeedMultiplier = 0.1;
+    public static final double kTolerance = Math.toRadians(0.5);

    public static final double kAmpsToTriggerPositionReset = 10;

@@ -36,7 +38,7 @@ public class HoodConstants {

    public static final int kCurrentLimit = 15;

-    public static final boolean kInverted = false;
+    public static final boolean kInverted = true;
    public static final boolean kUseInterpolatorForAngle = false;

    public static final IdleMode kIdleMode = IdleMode.kBrake;
@@ -60,6 +62,7 @@ public class HoodConstants {
            .feedbackSensor(FeedbackSensor.kPrimaryEncoder)
            .pid(kP, kI, kD)
            .outputRange(-1, 1)
+            .allowedClosedLoopError(kTolerance, ClosedLoopSlot.kSlot0)
            .feedForward
                .sva(kS, kV, kA);

--- a/src/main/java/frc/robot/constants/ModuleConstants.java
+++ b/src/main/java/frc/robot/constants/ModuleConstants.java
@@ -7,6 +7,7 @@ import com.ctre.phoenix6.configs.MotorOutputConfigs;
 import com.ctre.phoenix6.configs.Slot0Configs;
 import com.ctre.phoenix6.signals.InvertedValue;
 import com.ctre.phoenix6.signals.NeutralModeValue;
+import com.revrobotics.spark.ClosedLoopSlot;
 import com.revrobotics.spark.FeedbackSensor;
 import com.revrobotics.spark.config.SparkMaxConfig;
 import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
@@ -63,10 +64,12 @@ public class ModuleConstants {
    public static final double kTurningMotorReduction = 150.0/7.0;
    public static final double kTurningFactor = 2 * Math.PI / kTurningMotorReduction;
    // TODO Adjust? Let over from 2025
-    public static final double kTurnP = 1;
+    public static final double kTurnP = 12;
    public static final double kTurnI = 0;
    public static final double kTurnD = 0;

+    public static final double kTurnTolerance = Math.toRadians(0.25);
+
    public static final boolean kIsEncoderInverted = false;

    // TODO How sensitive is too sensitive?
@@ -118,6 +121,7 @@ public class ModuleConstants {
            .feedbackSensor(FeedbackSensor.kPrimaryEncoder)
            .pid(kTurnP, kTurnI, kTurnD)
            .outputRange(-1, 1)
+            .allowedClosedLoopError(kTurnTolerance, ClosedLoopSlot.kSlot0)
            .positionWrappingEnabled(true)
            .positionWrappingInputRange(0, 2 * Math.PI);
            
--- a/src/main/java/frc/robot/constants/PhotonConstants.java
+++ b/src/main/java/frc/robot/constants/PhotonConstants.java
@@ -2,7 +2,9 @@ package frc.robot.constants;

 import java.util.List;

+import edu.wpi.first.math.geometry.Rotation3d;
 import edu.wpi.first.math.geometry.Transform3d;
+import edu.wpi.first.math.util.Units;
 import frc.robot.utilities.PhotonVisionConfig;

 public class PhotonConstants {
@@ -11,7 +13,16 @@ public class PhotonConstants {

    // TODO Need actual values for all of this
    public static final Transform3d kCamera1RobotToCam = new Transform3d();
-    public static final Transform3d kCamera2RobotToCam = new Transform3d();
+    public static final Transform3d kCamera2RobotToCam = new Transform3d(
+        Units.inchesToMeters(1.5),
+        Units.inchesToMeters(-10.5),
+        Units.inchesToMeters(28.5),
+        new Rotation3d(
+            Units.degreesToRadians(0), 
+            Units.degreesToRadians(24), 
+            Units.degreesToRadians(-10)
+        )
+    );

    public static final double kCamera1HeightMeters = 0;
    public static final double kCamera1PitchRadians = 0;
@@ -21,7 +32,7 @@ public class PhotonConstants {
    // YOU SHOULDN'T NEED TO CHANGE ANYTHING BELOW THIS LINE UNLESS YOU'RE ADDING A CONFIGURATION ITEM

    public static final List<PhotonVisionConfig> configs = List.of(
-        new PhotonVisionConfig(kCamera1Name, kCamera1RobotToCam, kCamera1HeightMeters, kCamera1PitchRadians),
+        //new PhotonVisionConfig(kCamera1Name, kCamera1RobotToCam, kCamera1HeightMeters, kCamera1PitchRadians),
        new PhotonVisionConfig(kCamera2Name, kCamera2RobotToCam, kCamera2HeightMeters, kCamera2PitchRadians)
    );
 }
--- a/src/main/java/frc/robot/constants/ShooterConstants.java
+++ b/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),
-        kFeedSpeed(0.35);
+        kHubSpeed(3000.0),
+        kFeedSpeed(5000.0);

        private double speedMPS;
+        private double speedRPM;

-        private ShooterSpeeds(double speedMPS) {
-            this.speedMPS = speedMPS;
+        private ShooterSpeeds(double speedRPM) {
+            this.speedMPS = speedRPM * kWheelDiameter*Math.PI;
+            this.speedRPM = speedRPM;
        }

        public double getSpeedMPS() {
-            return speedMPS;
+            return speedMPS * kWheelDiameter*Math.PI;
+        }
+
+        public double getSpeedRPM(){
+            return speedRPM;
        }
    }

@@ -33,18 +39,18 @@ public class ShooterConstants {
    public static final boolean kLeftShooterMotorInverted = true;
    public static final boolean kRightShooterMotorInverted = false;

-    public static final double kLeftP = 0.1;
+    public static final double kLeftP = 0.001;
    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 = 0.0013;
    public static final double kLeftA = 0;

-    public static final double kRightP = 0.1;
+    public static final double kRightP = 0.001;
    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 kRightV = 0.21;
+    public static final double kRightV = 0.00121;
    public static final double kRightA = 0;

    public static final double kMaxManualSpeedMultiplier = 1;
@@ -52,7 +58,7 @@ public class ShooterConstants {
    public static final double kShooterHeightMeters = 0;

    // TODO Is this value sane?
-    public static final int kCurrentLimit = 50;
+    public static final int kCurrentLimit = 60;

    public static final IdleMode kShooterIdleMode = IdleMode.kCoast;

@@ -68,8 +74,8 @@ public class ShooterConstants {
            .smartCurrentLimit(kCurrentLimit)
            .inverted(kLeftShooterMotorInverted);
        kLeftMotorConfig.absoluteEncoder
-            .positionConversionFactor(kWheelDiameter * Math.PI)
-            .velocityConversionFactor(kWheelDiameter * Math.PI / 60);
+            .positionConversionFactor(1)
+            .velocityConversionFactor(60);
        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)
-            .velocityConversionFactor(kWheelDiameter * Math.PI / 60);
+            .positionConversionFactor(1)
+            .velocityConversionFactor(60)
+            .inverted(true);
        kRightMotorConfig.closedLoop
            .feedbackSensor(FeedbackSensor.kAbsoluteEncoder)
            .pid(kRightP, kRightI, kRightD)
--- a/src/main/java/frc/robot/subsystems/Climber.java
+++ b/src/main/java/frc/robot/subsystems/Climber.java
@@ -50,9 +50,9 @@ public class Climber extends SubsystemBase {
    }

    public Command maintainPosition(ClimberPositions position) {
+        return run(() -> {
            targetPosition = position;

-        return run(() -> {
            controller.setSetpoint(
                position.getPositionMeters(), 
                ControlType.kPosition
@@ -61,9 +61,9 @@ public class Climber extends SubsystemBase {
    }

    public Command manualSpeed(DoubleSupplier speed) {
+        return run(() -> {
            targetPosition = null;

-        return run(() -> {
            motor.set(speed.getAsDouble());
        });
    }
--- a/src/main/java/frc/robot/subsystems/Drivetrain.java
+++ b/src/main/java/frc/robot/subsystems/Drivetrain.java
@@ -323,6 +323,13 @@ public class Drivetrain extends SubsystemBase {
        });
    }

+    public Command zeroHeading() {
+        return run(() -> {
+            gyro.reset();
+            estimator.resetRotation(new Rotation2d(0));
+        });
+    }
+
    public void consumeVisualPose(VisualPose pose) {
        estimator.addVisionMeasurement(
            pose.visualPose(), 
--- a/src/main/java/frc/robot/subsystems/Hood.java
+++ b/src/main/java/frc/robot/subsystems/Hood.java
@@ -43,6 +43,7 @@ public class Hood extends SubsystemBase {
        );   

        encoder = motor.getEncoder();
+        encoder.setPosition(HoodConstants.kStartupAngle);

        controller = motor.getClosedLoopController();

@@ -68,9 +69,10 @@ public class Hood extends SubsystemBase {
    @Override
    public void periodic() {
        Logger.recordOutput("Hood/OutputCurrent", motor.getOutputCurrent());
-        Logger.recordOutput("Hood/CurrentTarget", currentTargetDegrees);
-        Logger.recordOutput("Hood/CurrentAngle", encoder.getPosition());
+        Logger.recordOutput("Hood/CurrentTarget", Math.toDegrees(currentTargetDegrees));
+        Logger.recordOutput("Hood/CurrentAngle", Math.toDegrees(encoder.getPosition()));
        Logger.recordOutput("Hood/AtSetpoint", controller.isAtSetpoint());
+        Logger.recordOutput("Hood/VoltageOut", motor.getAppliedOutput()*motor.getBusVoltage());
    }

    public Command trackToAngle(DoubleSupplier degreeAngleSupplier) {
--- a/src/main/java/frc/robot/subsystems/IntakePivot.java
+++ b/src/main/java/frc/robot/subsystems/IntakePivot.java
@@ -60,9 +60,9 @@ public class IntakePivot extends SubsystemBase {
    }

    public Command maintainPosition(IntakePivotPosition position) {
+        return run(() -> {
            currentTargetPosition = position;

-        return run(() -> {
            if(currentTargetPosition == null) {
                leftMotor.disable();
            } else {
@@ -72,9 +72,9 @@ public class IntakePivot extends SubsystemBase {
    }

    public Command manualSpeed(DoubleSupplier speed) {
+        return run(() -> {
            currentTargetPosition = null;
            
-        return run(() -> {
            leftMotor.set(speed.getAsDouble() * IntakePivotConstants.kMaxManualSpeedMultiplier);
        });
    }
--- 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;

@@ -54,17 +57,22 @@ public class Shooter extends SubsystemBase {

        // TODO Set this to the initial startup speed
        targetSpeeds = null;
+
+        rightRelative = rightMotor.getEncoder();
    }

    @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());
+
+        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());
@@ -72,20 +80,20 @@ public class Shooter extends SubsystemBase {
    }

    public Command maintainSpeed(ShooterSpeeds speeds) {
+        return run(() -> {
            targetSpeeds = speeds;

-        return run(() -> {
            if(targetSpeeds == null) {
                leftMotor.disable();
                rightMotor.disable();
            } else {
                leftClosedLoopController.setSetpoint(
-                    targetSpeeds.getSpeedMPS(), 
+                    targetSpeeds.getSpeedRPM(), 
                    ControlType.kVelocity
                );

                rightClosedLoopController.setSetpoint(
-                    -targetSpeeds.getSpeedMPS(), 
+                    targetSpeeds.getSpeedRPM(), 
                    ControlType.kVelocity
                );
            }
@@ -93,9 +101,9 @@ public class Shooter extends SubsystemBase {
    }

    public Command manualSpeed(DoubleSupplier speed) {
+        return run(() -> {
            targetSpeeds = null;
            
-        return run(() -> {
            leftMotor.set(speed.getAsDouble() * ShooterConstants.kMaxManualSpeedMultiplier);
            rightMotor.set(speed.getAsDouble() * ShooterConstants.kMaxManualSpeedMultiplier);
        });
Author	SHA1	Message	Date
Bradley Bickford	918876923f	Changes from build session 3/3/26	2026-03-04 10:05:46 -05:00
Tylr-J42	208cfa3ce4	outpost paths	2026-03-03 14:11:12 -05:00
Tylr-J42	fb937d86dc	good flywheel and hood control	2026-03-01 19:15:36 -05:00
Bradley Bickford	db443cfe63	Merge branch 'tuning' of https://git.coldlightalchemist.com/Team_2648/2026-Robot-Code into tuning	2026-03-01 16:38:07 -05:00
Bradley Bickford	cbcfc9cab0	Placement of where a value was set was wrong	2026-03-01 16:36:06 -05:00
Tylr-J42	96fb68cb32	one shooter good	2026-03-01 15:56:55 -05:00
Tylr-J42	80ef3a3431	encoder weird	2026-03-01 14:50:55 -05:00
Tylr-J42	866e6b99df	shooter units off	2026-03-01 13:58:39 -05:00