b

diff --git a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
index 00278b12f918992ac42da02ca0afc8d0518efe70..f4d0bcc8d5c40313b535e97fc401cbb1c46aa3ca 100644 (file)
--- a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
+++ b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
@@ -110,7 +110,7 @@ public class PS5ControllerDriverConfig extends BaseDriverConfig {
         }
 
         // Auto shoot
-        if (turret != null) {
+        if (turret != null && hood != null && shooter != null) {
             driver.get(PS5Button.SQUARE).onTrue(
                     new InstantCommand(() -> {
                         if (autoShoot != null && autoShoot.isScheduled()) {
@@ -123,7 +123,7 @@ public class PS5ControllerDriverConfig extends BaseDriverConfig {
         }
 
         if (climb != null) {
-            driver.get(PS5Button.CIRCLE).onTrue(new InstantCommand(() -> {
+            driver.get(PS5Button.PS).onTrue(new InstantCommand(() -> {
                 climb.hardstopCalibration();
             })).onFalse(new InstantCommand(() -> {
                 climb.stopCalibrating();

diff --git a/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
index 076e8fe19c9ae62c9228dee6b1c43101677afcdc..9b1a45a2a4c0ba193a8ef9ebf1217abe431f8242 100644 (file)
--- a/src/main/java/frc/robot/subsystems/shooter/Shooter.java
+++ b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
@@ -63,7 +63,7 @@ public class Shooter extends SubsystemBase implements ShooterIO {
         SmartDashboard.putNumber("shooter power modifier", powerModifier);
         
         // Convert to RPS
-        double targetVelocityRPS = Units.radiansToRotations(shooterTargetSpeed / (ShooterConstants.SHOOTER_LAUNCH_DIAMETER/2));
+        double targetVelocityRPS = Units.radiansToRotations(shooterTargetSpeed / (ShooterConstants.SHOOTER_LAUNCH_DIAMETER/2)) * powerModifier;
 
         // Sets the motor control to target velocity
         shooterMotorLeft.setControl(voltageRequest.withVelocity(targetVelocityRPS));