operator config

diff --git a/src/main/java/frc/robot/commands/gpm/Superstructure.java b/src/main/java/frc/robot/commands/gpm/Superstructure.java
index 6ebf6f9d75a0c0e1fa4e43db66b2e3c8f4ed988e..4df969e0b955275265f72508a129c11ced04ff59 100644 (file)
--- a/src/main/java/frc/robot/commands/gpm/Superstructure.java
+++ b/src/main/java/frc/robot/commands/gpm/Superstructure.java
@@ -66,8 +66,6 @@ public class Superstructure extends Command {
     private LoggedNetworkNumber turretOffset = new LoggedNetworkNumber("/Tuning/OPERATOR/Turret Offet",0.0);
 
     private double distanceFromTarget = 0.0;
-    private LoggedNetworkNumber shuttlingTOFMultiplier = new LoggedNetworkNumber("/Tuning/OPERATOR/Shuttling TOF Multiplier",0.8);
-
     // private double TOFAdjustment = 0.85;
     // private double TOFAdjustment = 1.1;
     private LoggedNetworkNumber TOFAdjustment = new LoggedNetworkNumber("/Tuning/OPERATOR/TOF Adjustment", 1.1);

diff --git a/src/main/java/frc/robot/subsystems/PowerControl/EMABreaker.java b/src/main/java/frc/robot/subsystems/PowerControl/EMABreaker.java
index 2ee9e95c172c97edb3ebe525dcd8949fac48b775..41956c2f023c013334ae735ef871b9d96d1d0662 100644 (file)
--- a/src/main/java/frc/robot/subsystems/PowerControl/EMABreaker.java
+++ b/src/main/java/frc/robot/subsystems/PowerControl/EMABreaker.java
@@ -82,7 +82,7 @@ public class EMABreaker extends SubsystemBase {
 
         // total stuff
         Logger.recordOutput("Breaker/TotalCurrent", current);
-        Logger.recordOutput("Breaker/OverCurrent", isInWarning());
+        Logger.recordOutput("Breaker/CurrentWarning", isInWarning());
     }
 
     public double getAverageCurrentDraw(int[] ports) {

diff --git a/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
index f05d70cc8cf44d07e7bb0534946f1082d493acd2..2f4e5832d6a5f117d846ab7b0a94de30cd976304 100644 (file)
--- a/src/main/java/frc/robot/subsystems/shooter/Shooter.java
+++ b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
@@ -2,6 +2,7 @@ package frc.robot.subsystems.shooter;
 
 import org.littletonrobotics.junction.AutoLogOutput;
 import org.littletonrobotics.junction.Logger;
+import org.littletonrobotics.junction.networktables.LoggedNetworkNumber;
 
 import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
 import com.ctre.phoenix6.configs.MotorOutputConfigs;
@@ -34,7 +35,7 @@ public class Shooter extends SubsystemBase implements ShooterIO {
 
     private final ShooterIOInputsAutoLogged inputs = new ShooterIOInputsAutoLogged();
 
-    double powerModifier = 1.00;
+    private LoggedNetworkNumber powerModifier = new LoggedNetworkNumber("/Tuning/OPERATOR/Shooter Modifier", 1.0);
 
     public Shooter() {
         updateInputs();
@@ -81,7 +82,7 @@ public class Shooter extends SubsystemBase implements ShooterIO {
 
         
         // Convert to RPS
-        double targetVelocityRPS = Units.radiansToRotations(shooterTargetSpeed / (ShooterConstants.SHOOTER_LAUNCH_DIAMETER/2)) * powerModifier;
+        double targetVelocityRPS = Units.radiansToRotations(shooterTargetSpeed / (ShooterConstants.SHOOTER_LAUNCH_DIAMETER/2)) * powerModifier.get();
 
         if (!Constants.DISABLE_SMART_DASHBOARD) {
             SmartDashboard.putNumber("Target Velocity RPS", targetVelocityRPS);
@@ -104,8 +105,9 @@ public class Shooter extends SubsystemBase implements ShooterIO {
             SmartDashboard.putBoolean("Shooter At Speed", atTargetSpeed());
             SmartDashboard.putBoolean("Shooter Running", shooterTargetSpeed > 0);
         }
-        powerModifier = SmartDashboard.getNumber("OPERATOR: Shooter Power Modifier", powerModifier);
-        SmartDashboard.putNumber("OPERATOR: Shooter Power Modifier", powerModifier);
+        
+        // powerModifier = SmartDashboard.getNumber("OPERATOR: Shooter Power Modifier", powerModifier);
+        // SmartDashboard.putNumber("OPERATOR: Shooter Power Modifier", powerModifier);
 
         // keep this
         SmartDashboard.putString("WON AUTO?", (HubActive.wonAuto()) ? "WON" : "LOST");
@@ -155,11 +157,11 @@ public class Shooter extends SubsystemBase implements ShooterIO {
     }
 
     public void bumpUpShooterModifier() {
-        powerModifier += 0.025;
+        powerModifier.set(powerModifier.get() + 0.025);
     }
 
     public void bumpDownShooterModifier() {
-        powerModifier -= 0.025;
+        powerModifier.set(powerModifier.get() - 0.025);
     }
 
     /**