a

diff --git a/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
index b26e1f7f85dec6bec829a74641b3a0bee9dbf457..c3febf3f692c4d9d6f9b96ba7555efca7e5bd714 100644 (file)
--- a/src/main/java/frc/robot/subsystems/shooter/Shooter.java
+++ b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
@@ -105,7 +105,7 @@ public class Shooter extends SubsystemBase implements ShooterIO {
         if (Math.abs(shooterMotorLeft.getVelocity().getValueAsDouble() - shooterTargetSpeed) < ShooterConstants.TORQUE_CURRENT_CONTROL_TOLERANCE) {
             phase = FlywheelPhase.MAX; // we need to recover from ball velocity in order to be back to idle
         } else {
-            phase = FlywheelPhase.CONSTANT_TORQUE; 
+            phase = FlywheelPhase.CONSTANT_TORQUE;                                                             
         }
     }
 

diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterConstants.java b/src/main/java/frc/robot/subsystems/shooter/ShooterConstants.java
index 8783361b16bfaa25524ef50b387bcc1f0d31e635..3c47d33571491e4aefc978cb592a110afc7aa744 100644 (file)
--- a/src/main/java/frc/robot/subsystems/shooter/ShooterConstants.java
+++ b/src/main/java/frc/robot/subsystems/shooter/ShooterConstants.java
@@ -4,7 +4,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
 public class ShooterConstants {
     //TODO: find these values
-    public static final double FEEDER_RUN_POWER = 0.3; // meters per second??
+    public static final double FEEDER_RUN_POWER = 0.5; // meters per second??
     public static double SHOOTER_VELOCITY = 30.0; // meters per second
     public static final double SHOOTER_GEAR_RATIO = 36.0 / 24.0; // gear ratio from motors to shooter wheel
     // public static final double SHOOTER_LAUNCH_DIAMETER = 0.0762; // meters (3 inches)
@@ -17,7 +17,7 @@ public class ShooterConstants {
     public static final double EXIT_VELOCITY_TOLERANCE = 1.0;
 
     // for bang bang
-    public static final double TORQUE_CURRENT_CONTROL_TOLERANCE = 20; // 20 amps
+    public static final double TORQUE_CURRENT_CONTROL_TOLERANCE = 10; // velocity (rotations per second)
 
 }
 // 8 velcocity is too little