shooter mod, turret back to 40

diff --git a/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
index 818fedeaa421f3d1b5dbf9ce2800d58fde15a727..fcec2992a63819d83494b318f6d225e59c3b9787 100644 (file)
--- a/src/main/java/frc/robot/subsystems/shooter/Shooter.java
+++ b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
@@ -81,10 +81,8 @@ public class Shooter extends SubsystemBase implements ShooterIO {
         // shooterTargetSpeed = SmartDashboard.getNumber("Shooter Setpoint", shooterTargetSpeed);
         // SmartDashboard.putNumber("Shooter Setpoint", shooterTargetSpeed);
 
-        if (!Constants.DISABLE_SMART_DASHBOARD) { // yes I could put this in one, but more lines for me
-            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);
         
         // Convert to RPS
         double targetVelocityRPS = Units.radiansToRotations(shooterTargetSpeed / (ShooterConstants.SHOOTER_LAUNCH_DIAMETER/2)) * powerModifier;

diff --git a/src/main/java/frc/robot/subsystems/turret/TurretConstants.java b/src/main/java/frc/robot/subsystems/turret/TurretConstants.java
index 3be91da80ef566560dbb332949eb019bf417ef3e..afd311c827aedd5969c074ce442eab36276e5705 100644 (file)
--- a/src/main/java/frc/robot/subsystems/turret/TurretConstants.java
+++ b/src/main/java/frc/robot/subsystems/turret/TurretConstants.java
@@ -26,7 +26,7 @@ public class TurretConstants {
 
        public static final double FEEDFORWARD_KV = 0.06;
 
-    public static final double NORMAL_CURRENT_LIMIT = 60.0; // A
+    public static final double NORMAL_CURRENT_LIMIT = 40.0; // A
     public static final double CALIBRATION_CURRENT_LIMIT = 10.0; // A
     public static final double CALIBRATION_CURRENT_THRESHOLD = 9.0; // A