From: iefomit Date: Wed, 1 Apr 2026 05:50:47 +0000 (-0700) Subject: Merge branch 'shootermotors&auto' into testing_atuos_260329 X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=02361c13be0d014db31c8e6ebfbc510592b5d289;p=FRC2026.git Merge branch 'shootermotors&auto' into testing_atuos_260329 --- 02361c13be0d014db31c8e6ebfbc510592b5d289 diff --cc src/main/java/frc/robot/subsystems/shooter/Shooter.java index 670d544,10969cd..74d1131 --- a/src/main/java/frc/robot/subsystems/shooter/Shooter.java +++ b/src/main/java/frc/robot/subsystems/shooter/Shooter.java @@@ -24,6 -24,10 +24,8 @@@ public class Shooter extends SubsystemB private TalonFX shooterMotorLeft = new TalonFX(IdConstants.SHOOTER_LEFT_ID, Constants.CANIVORE_SUB); private TalonFX shooterMotorRight = new TalonFX(IdConstants.SHOOTER_RIGHT_ID, Constants.CANIVORE_SUB); - + //TODO Add current limits + - // Goal Velocity / Double theCircumfrence private double shooterTargetSpeed = 0; @@@ -39,7 -43,7 +41,7 @@@ updateInputs(); TalonFXConfiguration config = new TalonFXConfiguration(); - config.Slot0.kP = 0.5; //0.5 to stop fighting - config.Slot0.kP = 0.5; // 0.5 Stable ++ config.Slot0.kP = 0.5; // 0.5 stable config.Slot0.kI = 0; config.Slot0.kD = 0.0; config.Slot0.kV = 0.125; //Maximum rps = 100 --> 12V/100rps