From: WesleyWong-972 <wesleycwong@gmail.com>
Date: Thu, 22 Jan 2026 00:56:43 +0000 (-0800)
Subject: eijorjs
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=3f75ff267b761768a5ad0ce7d438e4f179fb7ad0;p=FRC2026.git

eijorjs
---

diff --git a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
index f38676a..45e7cae 100644
--- a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
+++ b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
@@ -66,7 +66,7 @@ public class PS5ControllerDriverConfig extends BaseDriverConfig {
 
         driver.get(PS5Button.LB).onTrue(
             new SequentialCommandGroup(
-                new InstantCommand(()-> shooter.setShooter(ShooterConstants.SHOOTER_VELOCITY)),
+                new InstantCommand(()-> shooter.setShooter(-ShooterConstants.SHOOTER_VELOCITY)),
                 new WaitCommand(0.8),
                 new InstantCommand(()-> shooter.setFeeder(ShooterConstants.FEEDER_RUN_POWER))
             )
@@ -87,6 +87,7 @@ public class PS5ControllerDriverConfig extends BaseDriverConfig {
                         }
                     })
         );
+        
     }
     
     public void setAlignmentPose(){
diff --git a/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
index 5e9e2cf..9da7d19 100644
--- a/src/main/java/frc/robot/subsystems/shooter/Shooter.java
+++ b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
@@ -1,5 +1,7 @@
 package frc.robot.subsystems.shooter;
 
+import java.lang.annotation.Target;
+
 import org.littletonrobotics.junction.AutoLogOutput;
 import org.littletonrobotics.junction.Logger;
 
@@ -11,11 +13,11 @@ import com.ctre.phoenix6.signals.InvertedValue;
 import com.ctre.phoenix6.signals.NeutralModeValue;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
-
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.constants.Constants;
 import frc.robot.constants.IdConstants;
 
-public class Shooter  {
+public class Shooter extends SubsystemBase {
     
     private TalonFX shooterMotorLeft = new TalonFX(IdConstants.SHOOTER_LEFT_ID, Constants.RIO_CAN);
     private TalonFX shooterMotorRight = new TalonFX(IdConstants.SHOOTER_RIGHT_ID, Constants.RIO_CAN);
@@ -78,7 +80,9 @@ public class Shooter  {
 
     public void setShooter(double linearVelocityMps) {
         double wheelCircumference = Math.PI * ShooterConstants.SHOOTER_LAUNCH_DIAMETER;
+        System.out.println("PRINTING WHEEEEEEEEEEEEL CIRUM:" + wheelCircumference);
         shooterTargetSpeed = linearVelocityMps * ShooterConstants.SHOOTER_GEAR_RATIO / wheelCircumference; // rps
+        System.out.println("PRINTING TARGET SPEED:" + shooterTargetSpeed);
     }
 
     public double getFeederVelocity() {
diff --git a/src/main/java/frc/robot/subsystems/turret/Turret.java b/src/main/java/frc/robot/subsystems/turret/Turret.java
index da4f186..6ece1d7 100644
--- a/src/main/java/frc/robot/subsystems/turret/Turret.java
+++ b/src/main/java/frc/robot/subsystems/turret/Turret.java
@@ -103,13 +103,17 @@ public class Turret extends SubsystemBase implements TurretIO{
         SmartDashboard.putData("Set to 180 degrees", new InstantCommand(() -> setSetpoint(180, 0)));
         SmartDashboard.putData("Set to -180 degrees", new InstantCommand(() -> setSetpoint(-180, 0)));
         SmartDashboard.putData("Set to -90 degrees", new InstantCommand(() -> setSetpoint(-90, 0)));
-
+        SmartDashboard.putData("Reset Yaw", new InstantCommand(() -> resetYaw()));
     }
 
     public double getPosition() {
         return inputs.positionDeg;
     }
 
+    public void resetYaw() {
+        inputs.positionDeg = 0;
+    }
+
     public boolean atSetPoint(){
         return Math.abs(getPosition() - setpoint) < 3.0;
     }
diff --git a/src/main/java/frc/robot/subsystems/turret/TurretConstants.java b/src/main/java/frc/robot/subsystems/turret/TurretConstants.java
index c163780..a7ef3c6 100644
--- a/src/main/java/frc/robot/subsystems/turret/TurretConstants.java
+++ b/src/main/java/frc/robot/subsystems/turret/TurretConstants.java
@@ -6,8 +6,8 @@ public class TurretConstants {
     public static double MAX_ANGLE = 180;
     public static double MIN_ANGLE = -180;
 
-    public static double MAX_VELOCITY = 1.0; // m/s
-    public static double MAX_ACCELERATION = 5; // m/s^2
+    public static double MAX_VELOCITY = 2.0; // m/s
+    public static double MAX_ACCELERATION = 10; // m/s^2
 
     public static double TURRET_WIDTH = Units.feetToMeters(1.0);
     public static double TURRET_RADIUS = TURRET_WIDTH / 2;