BUT ACTUALLY NOW

diff --git a/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
index 363e9d1d30b24248b7ac00bc51cf77cebf6c5fff..bb9f6babcafb1ea4cad6563bf7f90175524c58bf 100644 (file)
--- a/src/main/java/frc/robot/subsystems/shooter/Shooter.java
+++ b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
@@ -30,7 +30,7 @@ public class Shooter extends SubsystemBase implements ShooterIO {
 
     private final ShooterIOInputsAutoLogged inputs = new ShooterIOInputsAutoLogged();
 
-    double powerModifier = 1.25; // TESTED
+    double powerModifier = 1.1; // TESTED
 
     public Shooter(){
         updateInputs();
@@ -68,6 +68,10 @@ public class Shooter extends SubsystemBase implements ShooterIO {
         // Convert to RPS
         double targetVelocityRPS = Units.radiansToRotations(shooterTargetSpeed / (ShooterConstants.SHOOTER_LAUNCH_DIAMETER/2)) * powerModifier;
 
+
+        SmartDashboard.putNumber("Target Velocity RPS", targetVelocityRPS);
+        SmartDashboard.putNumber("Shooter Motor RPS", shooterMotorLeft.getVelocity().getValueAsDouble());
+
         // Sets the motor control to target velocity
         shooterMotorLeft.setControl(voltageRequest.withVelocity(targetVelocityRPS));
         shooterMotorRight.setControl(voltageRequest.withVelocity(targetVelocityRPS));