fdsa

diff --git a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
index f38676a19fe73f416913a4be3790533481f239b3..e7af91cff7a6cd97efcf412f023f8c1ae8ae5718 100644 (file)
--- a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
+++ b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
@@ -66,7 +66,7 @@ public class PS5ControllerDriverConfig extends BaseDriverConfig {
 
         driver.get(PS5Button.LB).onTrue(
             new SequentialCommandGroup(
-                new InstantCommand(()-> shooter.setShooter(ShooterConstants.SHOOTER_VELOCITY)),
+                new InstantCommand(()-> shooter.setShooter(-ShooterConstants.SHOOTER_VELOCITY)),
                 new WaitCommand(0.8),
                 new InstantCommand(()-> shooter.setFeeder(ShooterConstants.FEEDER_RUN_POWER))
             )

diff --git a/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
index 5e9e2cf56bc3fb6d2ccb8abe023598c1c2bfee5b..68c98623b039e17b854bd4fe41e02006ecc05dee 100644 (file)
--- a/src/main/java/frc/robot/subsystems/shooter/Shooter.java
+++ b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
@@ -11,11 +11,11 @@ import com.ctre.phoenix6.signals.InvertedValue;
 import com.ctre.phoenix6.signals.NeutralModeValue;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
-
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.constants.Constants;
 import frc.robot.constants.IdConstants;
 
-public class Shooter  {
+public class Shooter extends SubsystemBase {
     
     private TalonFX shooterMotorLeft = new TalonFX(IdConstants.SHOOTER_LEFT_ID, Constants.RIO_CAN);
     private TalonFX shooterMotorRight = new TalonFX(IdConstants.SHOOTER_RIGHT_ID, Constants.RIO_CAN);
@@ -79,6 +79,7 @@ public class Shooter  {
     public void setShooter(double linearVelocityMps) {
         double wheelCircumference = Math.PI * ShooterConstants.SHOOTER_LAUNCH_DIAMETER;
         shooterTargetSpeed = linearVelocityMps * ShooterConstants.SHOOTER_GEAR_RATIO / wheelCircumference; // rps
+        System.out.println("Shooter is working");
     }
 
     public double getFeederVelocity() {

diff --git a/src/main/java/frc/robot/subsystems/turret/Turret.java b/src/main/java/frc/robot/subsystems/turret/Turret.java
index da4f186fb6627b71316bae626266b13590c3c67e..915b43d76df4014d75ed8d596939307e57fa2946 100644 (file)
--- a/src/main/java/frc/robot/subsystems/turret/Turret.java
+++ b/src/main/java/frc/robot/subsystems/turret/Turret.java
@@ -138,8 +138,6 @@ public class Turret extends SubsystemBase implements TurretIO{
             //Tune this with rotating robot
             double dV = TurretConstants.ROTATIONAL_VELOCITY_CONSTANT;
             motor.setControl(voltageRequest.withPosition(motorTargetRotations).withFeedForward(dV * robotRotVel));
-
-            System.out.println("Workingnnnnngnggdsfadsfsa");
         }
     }